Distributed Control of parallel robots using passive sensor data

  1. Asier Zubizarreta 1
  2. Itziar Cabanes 1
  3. Marga Marcos 1
  4. Dario Orive 1
  5. Charles Pinto 1
  1. 1 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

Actas:
XI Jornadas de Tiempo Real, Palma de Mallorca, 7 y 8 de febrero de 2008

Año de publicación: 2008

Páginas: 159-165

Tipo: Aportación congreso

GOOGLE SCHOLAR

Resumen

The present article introduces a novel control architecture for parallel robots. A closed form ofthe dynamic model of parallel robots is difficult toobtain, due to the complex kinematic relations ofthese kind of mechanism. However, with the useof the extra data provided by passive sensors, kine-matics and dynamic modelling can be simplified.The dynamic model can be used to implement ad-vanced control techniques to improve que efficiencyof parallel robots. In this paper, mono and multiar-ticular control techniques are implemented on a 5Rparallel robot, showing that the use of the of extrasensor data leads to better and accurate control.