Kinematic task space scheme for 3 dof pneumatic parallel robot in motion control application

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dc.contributor.authorIzaguirre Castellanos, Eduardo
dc.contributor.authorHernández Santana, Luis
dc.contributor.authorUrquijo Pascual, Orlando
dc.contributor.departmentUniversidad Central "Marta Abreu" de Las Villas. Facultad de Ingeniería Eléctrica. Departamento de Control Automaticoen_US
dc.coverage.spatialSanta Clara, Cubaen_US
dc.date.accessioned2019-02-04T17:12:38Z
dc.date.available2019-02-04T17:12:38Z
dc.date.issued2014-02-06
dc.description.abstractThe 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.en_US
dc.identifier.citationCitar según la fuente original: Izaguirre, E., Hernández, L., & Urquijo, O. (2014). Kinematic task space scheme for 3dof pneumatic parallel robot in motion control application. Paper presented at the Scientific Conference UCLV-VLIR 2014.en_US
dc.identifier.isbn978-959-250-952-8en_US
dc.identifier.urihttps://dspace.uclv.edu.cu/handle/123456789/10725
dc.language.isoen_USen_US
dc.relation.conferenceScientific Conference UCLV-VLIR 2014en_US
dc.rightsEste documento es Propiedad Patrimonial de la Universidad Central “Marta Abreu” de Las Villas. Los usuarios podrán hacer uso de esta obra bajo la siguiente licencia:Creative Commons4.0 License: Atribución-No Comercial-Compartir Igualen_US
dc.rights.holderUniversidad Central “Marta Abreu” de Las Villasen_US
dc.subjectParallel Robot Controlen_US
dc.subjectTask Space Controlen_US
dc.subjectMotion Simulatoren_US
dc.titleKinematic task space scheme for 3 dof pneumatic parallel robot in motion control applicationen_US
dc.typeProceedingsen_US

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