DocumentCode :
3158321
Title :
Kinematics Identification and Control of R-Cube Parallel Robots Only with Revolute Joints
Author :
Hao, Kuangrong ; Ning, Yi
Author_Institution :
Coll. of Inf. Sci. & Technol., Donghua Univ., Shanghai
Volume :
2
fYear :
2006
fDate :
4-6 Oct. 2006
Firstpage :
2114
Lastpage :
2121
Abstract :
Due to their simplicity in manufacture and high load capacity, the revolute parallel manipulators come to front in the recent years. But the large number of links and passive joints often limit the performance of revolute parallel manipulator in terms of accuracy, therefore, the kinematic parameters of such mechanisms have to be identified by the kinematic identification. R-Cube is a 3-DOF translational parallel manipulator and has decoupled motion in x, y, and z axes, and employs only revolute joints. The structure and kinematics properties of the manipulator are studied in this paper using screw theory. The forward and backward kinematic model is introduced in inverse-implicit form by using invariant geometry theory of screws. In order to realizing the kinematic identification, the vision-based control model is established and the image depth evaluation system for such a manipulator is introduced for the first time. Finally, an inverse-implicit kinematic identification method is proposed.
Keywords :
manipulator kinematics; robot vision; 3-DOF translational parallel manipulator; R-cube parallel robots; image depth evaluation system; invariant geometry theory; inverse-implicit form; kinematics identification; revolute joints; screw theory; vision-based control model; Actuators; Educational institutions; Fasteners; Jacobian matrices; Kinematics; Manipulators; Manufacturing; Parallel robots; Service robots; Systems engineering and theory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Engineering in Systems Applications, IMACS Multiconference on
Conference_Location :
Beijing
Print_ISBN :
7-302-13922-9
Electronic_ISBN :
7-900718-14-1
Type :
conf
DOI :
10.1109/CESA.2006.4281987
Filename :
4281987
Link To Document :
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