Design and Control of a Novel 4-DOFs Parallel Robot H4 - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2003

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.
Fichier principal
Vignette du fichier
D81.PDF (261.63 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

lirmm-00269434 , version 1 (03-04-2008)

Identifiers

Cite

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⟩
195 View
627 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More