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Design and Control of a Novel 4-DOFs Parallel Robot H4

Abstract : This paper deals with the design and dynamic control simulation of a new type and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMSTM. In addition, the adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269434
Contributor : Christine Carvalho de Matos <>
Submitted on : Thursday, April 3, 2008 - 8:11:54 AM
Last modification on : Thursday, December 6, 2018 - 3:06:02 PM
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Hee-Byoung Choi, Olivier Company, François Pierrot, Atsushi Konno, Tetsuro Shibukawa, et al.. Design and Control of a Novel 4-DOFs Parallel Robot H4. ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Japan. pp.1185-1190, ⟨10.1109/ROBOT.2003.1241753⟩. ⟨lirmm-00269434⟩

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