Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Dynamic Control Experiment on a Parallel Robot HEXA
Masaru UchiyamaTetsuya SadotomoKazuyuki Masukawa
Author information
JOURNAL FREE ACCESS

1996 Volume 14 Issue 2 Pages 297-304

Details
Abstract
A 6-DOF parallel robot called HEXA which we have developed recently is suited for very fast motion. In this paper, we apply dynamic control to the HEXA robot to improve the accuracy of its trajectory tracking in the fast motion. First, we present a simple dynamic model for the HEXA robot to decrease the cost of computation and, then, experiment on identification of its parameters. We adopt so-called Adept motion, which is commonly used as a benchmark to measure the ability of fast motion, to evaluate the effect of the dynamic control. The results of the experiment on the dynamic control show that the control improves the trajectory tracking accuracy dramatically.
Content from these authors
© The Robotics Society of Japan
Previous article Next article
feedback
Top