Title :
Enhancing parallel robots accuracy with redundant sensors
Author :
Marquet, Frédéric ; Company, Oliver ; Krut, Sébastien ; Pierrot, François
Author_Institution :
LIRMM, Univ. Montpellier 2, France
Abstract :
This paper introduces a control strategy based on redundant sensors that leads to parallel robots accuracy enhancement. The method is presented in general, then applied to a 4-DOF parallel robot. Practical implementation issues, simulation results and experimental validation are addressed.
Keywords :
manipulator kinematics; motion control; position control; sensors; Cartesian location; forward kinematics; inverse kinematics; joint space control; parallel robots; redundant sensors; Calibration; Error correction; Kinematics; Machining; Orbital robotics; Parallel machines; Parallel robots; Performance evaluation; Robot sensing systems; Size control;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014390
