Kinematic task space scheme for 3 dof pneumatic parallel robot in motion control application
Izaguirre Castellanos, Eduardo
Hernández Santana, Luis
Urquijo Pascual, Orlando
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The tracking of the wanted position of 3-DOF parallel robot and it sorientation in the Cartesian coordinate frame attached to the mobile platform in 3D space (task space) are important in industrial driver simulator’s performance. The goal of this work is to implement in a 3-DOF parallel industrial robot,a kinematic control scheme in task space coordinates. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposed cascade control scheme in task space is based in two loops,the innerloop consisting in a decoupled joint position control and the outerloop which is designed to obtain an appropriate task space positioning. In order to avoid the on-line computation of direct kinematics,an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiments demonstrate the great performance of the cascaded control scheme in motion application.
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