| 203A4 |
|---|
| Motion control of Parallel-link mechanisms |
| AUTHORS |
| Shinya OKUDA, Yoshito TANAKA, Isao YOKOMICHI, Jyunko ISHII (Kitakyushu National College of Technology) |
| ABSTRACT |
| Parallel-link mechanisms consist of fixed base, platform and six parallel cylinders. Platform makes a movement with six-degree-of-freedom(6 DOF) by controlling the length of these cylinders. The purpose of this study is to specify the cylinder lengths through inverse kinematics and compare its accuracy with those obtained from feedback signals. Using the inverse kinematics analysis, 6 DOF reference is transformed into the cylinder length reference. In link-space control, the cylinder length reference drives the servo cylinder through DA converter and the cylinder lengths are gathered by LVDT. The feedback signals of LVDT is sent to PC via AD converter for comparison of their values. As a result of the link-space based control experiment, significantly better agreements were achieved between the cylinder length reference and feedback signals of the cylinder length when using the inverse kinematics. |
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Annual Conference 2002