Cartesian Control of a 3-DOF Electro-pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement
Abstract
This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.
Más información
Título según WOS: | ID WOS:000296190100013 Not found in local WOS DB |
Título de la Revista: | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
Volumen: | 8 |
Número: | 4 |
Editorial: | INTECH -OPEN ACCESS PUBLISHER |
Fecha de publicación: | 2011 |
Página de inicio: | 120 |
Página final: | 128 |
DOI: |
10.5772/45697 |
Notas: | ISI |