Abstract
Parallel robots have become an interesting alternative to serial robots due to their capability to perform certain tasks at high speed and precision. However, in order to fully exploit the theoretical capabilities of these mechanism, model-based, advanced control approaches are required. In this paper, the Extended CTC control approach is introduced. This scheme is based on the introduction of the data of the passive joint sensors on a CTC-based control law. Experimental validation on a 5R parallel manipulator prototype is provided in order to demonstrate the effectiveness of the approach.
This work was supported in part by the Government of Spain under projects DPI2009-07669 and DPI2011-22955, the Government of the Basque Country (GV/EJ) under grant S-PE11UN110 and by UPV/EHU under grants GIU10/20 and UFI11/28.
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Zubizarreta, A., Cabanes, I., Marcos-Muñoz, M., Pinto, C. (2012). Experimental Validation of the Extended Computed Torque Control Approach in the 5R Parallel Robot Prototype. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_50
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DOI: https://doi.org/10.1007/978-3-642-33515-0_50
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