Development of controller for small-sized parallel kinematic machines in assembling mobile IT products

This paper proposed the design of controller for 6 DOF parallel manipulator and development of control algorithm with the concept of synchronized error. Developed 6 DOF parallel manipulator is composed of 3 active joints to make a displacement motion of a moving platform and 3 active joints to make...

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Bibliographic Details
Published in2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 81 - 84
Main Authors Hyun Min Do, Chanhun Park, Doo Hyeong Kim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2015
Subjects
Dynamic simulation
Dynamics
Heuristic algorithms
Manipulator dynamics
Parallel manipulator
Parallel robots
Synchronization
Synchronized error
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Summary:This paper proposed the design of controller for 6 DOF parallel manipulator and development of control algorithm with the concept of synchronized error. Developed 6 DOF parallel manipulator is composed of 3 active joints to make a displacement motion of a moving platform and 3 active joints to make a rotational motion of an end-effector. Simulation model was suggested to develop the control algorithm through dynamic simulation.
DOI:10.1109/URAI.2015.7358933