OTHER
Control of a 3-DOF Over-Actuated Parallel Mechansim
Fre ́de ́ric Marquet, Se ́bastian Krut, Olivier Gascuel, François Pierrot
- Year
- 2002
- Citations
- 14
Abstract
This paper presents the control of ARCHI, a 3-dof over-actuated parallel mechanism, designed as a subpart of a 5-axis hybrid machining robot. Control strategies of the parallel sub-mechanism (3 dof / 4 actuators) managing the internal constraint on the mechanism are proposed and experimental results are discussed.
Keywords
Mechanism (biology)ActuatorParallel manipulatorMachiningRobotControl theory (sociology)Constraint (computer-aided design)Control engineeringComputer scienceControl (management)
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