Dynamic Control Experiment on a Parallel Robot HEXA.

摘要

A 6-DOF parallel robot called HEXA which we have developed recently is suited for very fast motion. In this paper, we apply dynamic control to the HEXA robot to improve the accuracy of its trajectory tracking in the fast motion. First, we present a simple dynamic model for the HEXA robot to decrease the cost of computation and, then, experiment on identification of its parameters. We adopt so-called Adept motion, which is commonly used as a benchmark to measure the ability of fast motion, to evaluate the effect of the dynamic control. The results of the experiment on the dynamic control show that the control improves the trajectory tracking accuracy dramatically.