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
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;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223171
