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Real-Time Validation and Control Environment for Parallel Robot Control Design

[+] Author Affiliations
A. Zubizarreta, E. Portillo, I. Cabanes, M. Marcos, Ch. Pinto

University of the Basque Country, Bilbao, Spain

Paper No. DETC2011-47259, pp. 659-667; 9 pages
doi:10.1115/DETC2011-47259
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

Due to their high performance when executing high-speed and accurate tasks, parallel robots have became the focus of many researchers and companies. However, exploiting the full potential of these robots requires a correct mechatronic design, in which the designed mechanism has to be controlled by a suitable control law in order to achieve the maximum performance. In this paper a novel Validation and Control Environment (VALIDBOT) is proposed as a support for the control design and experimental testing stages of these robots. The proposed open and flexible environment is designed to meet rapid prototyping requirements, offering a high level framework for both students and researchers. The capabilities of the environment are illustrated with an application case based on a 5R parallel robot prototype in which a modified CTC controller is tested.

Copyright © 2011 by ASME
Topics: Robots , Design

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