Title :
H4 parallel robot: modeling, design and preliminary experiments
Author :
Pierrot, Francois ; Marquet, Frederic ; Company, Olivier ; Gil, Thierry
Author_Institution :
LIRMM, Univ. des Sci. et Tech. du Languedoc, Montpellier, France
Abstract :
This paper first recalls the concept of H4 parallel mechanism, and the kinematic models necessary for real-time control are derived. A simple and efficient control system based on a combination of Windows NT and RTX is used to demonstrate its performances. Results prove the efficiency of H4 serving as a high-speed pick-and-place robot.
Keywords :
manipulator kinematics; motion control; position control; real-time systems; H4 parallel robot; kinematic models; motion control; position control; real-time control; Aerospace simulation; Control systems; Gas insulated transmission lines; Grippers; Kinematics; Machining; Parallel machines; Parallel robots; Service robots; Wrist;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933120
