Title :
Kinematic, Dynamic Modeling and Remote Control of a Robotic Machine
Author :
Zhang, Dan ; Wang, Lihui ; Bi, Zhuming
Author_Institution :
Univ. of Ontario, Oshawa
fDate :
May 30 2007-June 1 2007
Abstract :
In this paper, a robotic machine with 3 degrees of freedom (DOF) is proposed. First, the geometric structure of the 3-DOF parallel robot is presented; in the mechanism, a fourth kinematic link -a passive link connecting the base center to the moving platform center -is introduced. This last link is used to constrain the motion of the moving platform to only 3-DOF. Then, the kinematic and dynamic models are developed. With the models, a web-based remote control approach is then applied. The 3-DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3-DOF structure is set up, and some conclusions are given by the end.
Keywords :
Internet; industrial manipulators; machine tools; manipulator dynamics; manipulator kinematics; mobile robots; telecontrol; 3-DOF parallel robot geometric structure; Web-based remote control approach; industrial manipulator; machine tool; robotic machine dynamic modeling; robotic machine kinematic modeling; Automatic control; Computer numerical control; Condition monitoring; Joining processes; Kinematics; Leg; Machine tools; Parallel robots; Robot control; Robotics and automation; dynamics; kinematics; machine tool; robot;
Conference_Titel :
Control and Automation, 2007. ICCA 2007. IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4244-0818-4
Electronic_ISBN :
978-1-4244-0818-4
DOI :
10.1109/ICCA.2007.4376801
