Dynamic Control Experiment on a Parallel Robot HEXA.

Direct Singularity Avoidance Strategy for the Hexa Parallel Robot

Machine supervision on parallel robots demand a powerful online singularity loci prediction. To detect the entrance of the end-effector on direct kinematic singularities that constrain the internal workspace is not trivial for parallel robots with five or six degrees of freedom. This paper presents a strategy to safely drive a Hexa parallel robot out of direct singularity regions based an index...

On dynamic models of robot force control

HighRobot: a high-performance universal robot control on parallel workstations

This paper introduces a new type of parallel robot control based on standard hardware and software. HIGHROBOT is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HIGHROBOT control has an object-oriented design. Both hardware and softwa...

Predictive functional control for a parallel robot

This paper presents an efficient application of a model based predictive control in parallel mechanisms. A predictive functional control control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed ...

A Parallel Blackboard System for Robot Control

The b l a c k b o a r d a r c h i t e c t u r e i s a p o w e r f u l e x p e r t systems a r c h i t e c t u r e . I t s main advantages a r e f l e x i b i l i t y o f c o n t r o l and i n t e g r a t i o n o f d i f f e r e n t k i n d s o f knowledge r e p r e s e n t a t i o n s and i n f e r e n c i n g t e c h n i q u e s . At our L a b o r a t o r i e s we b u i l t a b l a c k b o a r...