Title :
Design and control of high-speed parallel robot
Author :
Do, Hyun Min ; Park, Chan Hun ; Kim, Byung In ; Chung, Gwang Jo ; Kyung, Jin Ho
Author_Institution :
Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea
Abstract :
In this paper, we develop the high speed parallel robot for handling the solar cell. This research covers the design of the experimental prototype, the design of the control algorithm and the evaluation of the performance of the proposed system. The control method using the feedback and feedforward are developed and applied to each joint of the parallel robot. To improve the performance, both the tracking error and synchronization error are considered. Finally, experiments are conducted to verify the performance.
Keywords :
control system synthesis; design of experiments; feedback; feedforward; industrial manipulators; materials handling equipment; prototypes; solar cells; synchronisation; control algorithm design; design of experimental prototype; feedback; feedforward; high speed parallel robot control; high-speed parallel robot design; performance evaluation; solar cell handling; synchronization error; tracking error; Joints; Load modeling; Manipulators; Parallel robots; Synchronization; Trajectory; feedforward control; high-speed parallel robot; solar cell; synchronization error;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
