DocumentCode
1912747
Title
Kinematics control of a 6 URS parallel platform working as an impedance display
Author
Sabater, J.M. ; Azorín, J.M. ; García, N. ; Aracil, R. ; Saltarén, R.
Author_Institution
Dept. de Ingenieria de Sistemas Industriales, Univ. Miguel Hernandez, Alicante, Spain
Volume
2
fYear
2003
fDate
23-25 June 2003
Firstpage
1142
Abstract
Parallel platforms offer advantages that make suitable for working as master devices in a bilateral teleoperation scheme. This paper presents the geometrical model and the kinematic algorithms of a 6 URS platform developed to be used as an impedance that reads the position of the operator and reflects forces to him.
Keywords
geometry; kinematics; telerobotics; 6 URS parallel platform; bilateral teleoperation scheme; geometrical model; impedance display; kinematics algorithm; kinematics control; master devices; Actuators; Concurrent computing; Constraint theory; Displays; Impedance; Industrial control; Kinematics; Parallel robots; Robot control; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN
0-7803-7729-X
Type
conf
DOI
10.1109/CCA.2003.1223171
Filename
1223171
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