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A new solution for machining with RA-PKMs: Modelling, control and experiments

Abstract : In this paper, a novel 5-Degree of Freedom (DOF) Redundantly Actuated (RA) Parallel Kine-matic Manipulator (PKM) called SPIDER4 is presented. The main purpose of this manipula-tor is to perform machining tasks such as drilling and milling. All the mathematical models including the forward and inverse kinematic models, as well as the inverse dynamic model were developed. Owing to machining tasks require high precision, a RISE Feedfor-ward controller is proposed for desired trajectory tracking. To show the performance and effectiveness of the proposed control scheme, real-time experiments were performed. The obtained results of the proposed controller compared to the standard RISE controller are presented and discussed. They confirm that the proposed controller outperforms the standard one.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02514747
Contributor : Ahmed Chemori <>
Submitted on : Sunday, March 22, 2020 - 9:47:19 PM
Last modification on : Tuesday, March 24, 2020 - 1:42:13 AM

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Jonatan Martín Escorcia-Hernández, Ahmed Chemori, Hipolito Aguilar-Sierra, Arturo Jesús Monroy-Anieva. A new solution for machining with RA-PKMs: Modelling, control and experiments. Mechanism and Machine Theory, Elsevier, 2020, 150, pp.#103864. ⟨10.1016/j.mechmachtheory.2020.103864⟩. ⟨lirmm-02514747⟩

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