并联机器人的高速控制

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262518

F. Pierrot, M. Benoit, P. Dauchez, J. Galmiche

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引用次数: 7

摘要

给出了用少量的算术和三角运算完成DELTA并联机器人的完整建模的解决方案。该方法基于对运动学模型的运动学参数的合理选择，以及对静态和动态模型的少量约束假设。提出了一种低成本的机器人控制器(“Chip-Burger”)。在其上实现了关节空间和笛卡尔空间。本文的初步结果表明，这种解可以获得较高的加速度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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High speed control of a parallel robot

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.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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