REAL-TIME VALIDATION AND CONTROL ENVIRONMENT FOR PARALLEL ROBOT CONTROL DESIGN

被引：0

作者：

Zubizarreta, A. ^{[1
]}

Portillo, E. ^{[1
]}

Cabanes, I. ^{[1
]}

Marcos, M. ^{[1
]}

Pinto, Ch ^{[1
]}

机构：

[1] Univ Basque Country, Dep Syst Engn, Bilbao 48013, Spain

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B | 2012年

关键词：

INVERSE DYNAMICS; INTEGRATED DESIGN; 5R PLANAR;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Due to their high performance when executing high-speed and accurate tasks, parallel robots have became the focus of many researchers and companies. However; exploiting the frill potential of these robots requires a correct mechatronic design, in which the designed mechanism has to be controlled by a suitable control law in order to achieve the maximum performance. In this paper a novel Validation and Control Environment (VALIDBOT) is proposed as a support for the control design and experimental testing stages of these robots. The proposed open and flexible environment is designed to meet rapid prototyping requirements, offering a high level framework for both students and researchers. The capabilities of the environment are illustrated with an application case based on a 5R parallel robot prototype in which a modified CTC controller is tested.

引用

页码：659 / 667

页数：9

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