A vision-based generic dynamic model of PKMs and its experimental validation on the Quattro parallel robot

被引：0
|
作者：
Ozgur, Erol [1 ]
Dahmouche, Redwan [2 ]
Andreff, Nicolas [2 ]
Martinet, Philippe [3 ]
机构：
[1] IFMA, Pascal Inst, Clermont Ferrand, France
[2] FEMTO ST, Besancon, France
[3] Ecole Centrale Nantes, IRCCYN, Nantes, France
来源：
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, we present a dynamic modeling method for parallel kinematic manipulators. This method is built upon the postures (i.e., 3D orientation vectors, lengths and self rotations) of the kinematic elements which form the kinematic chains of the robot. Regarding the structure of the above method, computer vision emerges as a good option to obtain the postures of these kinematic elements. This method is then validated experimentally on the commercial Adept Quattro parallel robot.
引用
收藏
页码：937 / 942
页数：6
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