Control of Self-Reconfigurable Parallel Robot by Coupling Open Kinematic Chains with Unactuated Joints

Osamu Mori; Tasuku Yamawaki; Toru Omata

doi:10.11499/sicep.2002.0.657.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.657.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Control of Self-Reconfigurable Parallel Robot by Coupling Open Kinematic Chains with Unactuated Joints

Osamu Mori, Tasuku Yamawaki, Toru Omata

Author information

Keywords: Reconfigurable robot, Parallel robot, Underactuated robot, Coupling

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Pages 657

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Abstract

This paper shows a self-reconfigurable planar parallel robot by coupling two 2R open kinematic chains, the first joints of which are unactuated. They can reconfigure to a 5R closed kinematic chain which has the same number of actuators as its degrees of freedom. They can also reconfigure to a 4R closed kinematic chain. We present a dynamic control for the open kinematic chain to move to a target position on the floor without making an impact.

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