DocumentCode :
1693907
Title :
Acceleration compensation using a Stewart platform on a mobile robot
Author :
Graf, René ; Dillmann, Rüdiger
Author_Institution :
Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
fYear :
1999
fDate :
6/21/1905 12:00:00 AM
Firstpage :
17
Lastpage :
24
Abstract :
Transporting an object on a mobile platform always transfers accelerations to this object. In many cases this is undesirable, so a compensation would be helpful. There are passive systems, but they can only react and have no other use like manipulating. This paper presents a solution for both compensation of accelerations and precise and powerful manipulation. In order to achieve a compensation a Stewart platform is mounted on top of a mobile robot. Usually a Stewart platform is used to generate accelerations. In this application the acceleration vector of the robot is inverted and sent to the filter, which performs the platform motion depending on the robot movement. This filter handles all six degrees of freedom, so every movement can be taken into account, if it is determined by acceleration or inclination sensors. Furthermore, this combination is also a very precise docking system, since the Stewart platform can easily correct the uncertainty in the robot position
Keywords :
acceleration control; compensation; filtering theory; manipulator dynamics; mobile robots; motion control; position control; Stewart platform; acceleration control; compensation; docking system; filter; mobile robot; motion control; position control; Acceleration; Filters; Intellectual property; Medical robotics; Mobile robots; Payloads; Process control; Robot sensing systems; Uncertainty; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on
Conference_Location :
Zurich
Print_ISBN :
0-7803-5672-1
Type :
conf
DOI :
10.1109/EURBOT.1999.827617
Filename :
827617
Link To Document :
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