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Contribution to robots control with parallel degrees of freedom

Published online by Cambridge University Press:  09 March 2009

V. Potkonjak  and
T. Petrović
V. Potkonjak
Affiliation:
Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia)
T. Petrović
Affiliation:
Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia)
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Summary

This paper considers some problems concerning the motion and the control of large robots. The problem arises when highly nonuniform motion is required. It results in too strong dynamic loads and the robot cannot operate successfully. The solution is found in the introduction of redundancy in the form of parallel degrees of freedom. Kinematics of such a system follows the distributed positioning concept. The control scheme is developed for a one-dimensional redundant robot.

Type
Articles
Information
Robotica , Volume 12 , Issue 6 , November 1994 , pp. 569 - 573
Copyright
Copyright © Cambridge University Press 1994

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