パラレルメカニズム姿勢経路の制御(S49-1 パラレルメカニズムとその応用(1),S49 パラレルメカニズムとその応用)

概要

論文の詳細を見る
The platform of parallel mechanism makes a movement with six-degree-of-freedom(6 DOF), and the relationship between cylinders and postures of platform involves non-linearity. The FTP control using cylinder-length division causes another posture cross-talk motion. In this paper, as another alternative, a posture division scheme (CP control) was examined, whereby orientations of the platform remain the same. This control scheme can truck the specified translation motion without cross -talk motions. The posture of 6DOF of platform and each cylinder length were simulated and measured in experiments. Both numerical simulations and measured results indicate a significant improvement of the control performance for the proposed CP control schemes.
一般社団法人日本機械学会の論文
2004-09-04