4208 パラレルロボットのフルクローズ姿勢制御(S69-1 パラレルメカニズムとその応用(1),S69 パラレルメカニズムとその応用)

概要

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We have reported on the full-closed control scheme of the parallel robot, which feeds back information of translation and rotation of the platform based on the forward kinematics. The full-closed control utilizes forward kinematics and linearized equations instead of the cylinder lengths for the semi-closed control. This paper proposes a special case of the full-closed control whereby a single posture is fed with a sensor and remaining 5-postures are calculated with forward kinematics. This combination scheme of feedback signals is compared with those of semi-closed and full-closed signals using forward kinematics calculation. By the experiment of the combined full-closed control, the control performance was improved relatively by compensating for both joint errors and structural rigidity.
社団法人日本機械学会の論文
2006-09-15