Motion Control of Parallel Link Robot with 3-DOF in Posture

抄録

By attaching arm robots to mobile robots, it is expected to develop systems for automating household chores, assisting the physically disabled, and so on. However, commercially available arm robots are large and heavy, making it difficult to use them in a limited space such as a home. Therefore, in this study, we focus on the parallel link mechanism and develop a parallel link robot with 3-DOF posture. In this paper, we describe the inverse kinematics solution by numerical analysis and the motion control of posture.