Control of a 3-dof Over-actuated Parallel Mechanism
نویسندگان
چکیده
This paper presents the control of ARCHI, a 3-dof over-actuated parallel mechanism, designed as a subpart of a 5-axis hybrid machining robot. Control strategies of the parallel sub-mechanism (3 dof / 4 actuators) managing the internal constraint on the mechanism are proposed and experimental results are discussed.
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تاریخ انتشار 2002