期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
期号：4
页码：43
DOI：10.5772/45697
语种：English
出版社：SAGE Publications
摘要：This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.
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