New Redundant Architectures in Machining: Serial and Parallel Robots
نویسندگان
چکیده
منابع مشابه
Advanced Control for Redundant Parallel Robots
One of the trends in robotics is a study of parallel structures and their control, lending, in some situation, to control of systems with more inputs than outputs (over-actuated, drive-redundant systems). The simples control approach considered means taking the robots as a set of single input-output systems (setSISO); decentralized control design. As an auspicious alternative is model-based app...
متن کاملEnhancing Parallel Robots Accuracy with Redundant Sensors
This paper introduces a control strategy based on redundant sensors that leads to parallel robots accuracy enhancement. The method is presented in general, then applied to a 4-dof parallel robot. Practical implementation issues, simulation results and experimental validation are addressed.
متن کاملSmooth Inverse Kinematics Algorithms for Serial Redundant Robots Master Thesis
The inverse kinematics of a robot is the mapping that, given a goal position, calculates a set of joint positions so as to place the robot’s end effector in the specified goal. As this is a relevant issue to move the robot, there has been a lot of work about obtaining a fast and robust inverse kinematic algorithm. In this work we present the main concerns on finding an inverse kinematics algori...
متن کاملAre Parallel Robots More Accurate than Serial Robots?
It is widely claimed that parallel robots are intrinsically more accurate than serial robots because their errors are averaged instead of added cumulatively, an assertion which has not been properly addressed in the literature. This paper addresses this void by comparing the kinematic accuracy of two pairs of serialparallel 2-DOF planar robots. Only input errors are considered and all robots ar...
متن کاملA Comparative Study of Parallel Kinematic Architectures for Machining Applications
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same pres...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2013
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2013.08.203