Cartesian Control of a 3-DOF Electro-pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement
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.
|Título según WOS:||ID WOS:000296190100013 Not found in local WOS DB|
|Título de la Revista:||INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS|
|Editorial:||INTECH -OPEN ACCESS PUBLISHER|
|Fecha de publicación:||2011|
|Página de inicio:||120|