High speed control of a parallel robot

Abstract

Presents solutions for a complete modeling of the DELTA parallel robot with few arithmetic and trigonometric operations. The method is based on a good choice of the kinematic parameters for the kinematic models, and on few restricting hypotheses for the static and dynamic modes. A low cost robotic controller (the 'Chip-Burger') is also presented. A joint space and a cartesian space are implemented on it. The preliminary results presented in the paper show that a high acceleration can be reached with such solutions.<>