Cartesian Control of a 3-DOF Electro-pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Izaguirre, Eduardo; Hernandez, Luis; Rubio, Ernesto; Urquijo, Orlando

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