Continuous path control of a 5-DOF parallel-serial hybrid robot |
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Authors: | Takuma Uchiyama Hidetsugu Terada Hironori Mitsuya |
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Affiliation: | (1) Strategic Information Management Lab, School of Computer and Information Science, University of South Australia, Adelaide, Australia;(2) School of Computer and Information Science, University of South Australia, Adelaide, Australia |
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Abstract: | Using the 5-degree of freedom parallel-serial hybrid robot, to realize the de-burring, new forward and inverse kinematic calculation
methods based on the “off-line teaching” method are proposed. This hybrid robot consists of a parallel stage section and a
serial stage section. Considering this point, each section is calculated individually. And the continuous path control algorithm
of this hybrid robot is proposed. To verify the usefulness, a prototype robot is tested which is controlled based on the proposed
methods. This verification includes a positioning test and a pose test. The positioning test evaluates the continuous path
of the tool center point. The pose test evaluates the pose on the tool center point. As the result, it is confirmed that this
hybrid robot moves correctly using the proposed methods. |
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