Conference
A Framework for the Control of a Parallel Manipulator with Several Actuation Modes
| العنوان: | A Framework for the Control of a Parallel Manipulator with Several Actuation Modes |
|---|---|
| المؤلفون: | Chablat, Damien, Jha, Ranjan, Caro, Stéphane |
| المساهمون: | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Robots and Machines for Manufacturing, Society and Services (LS2N - équipe RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom Paris (IMT)-Institut Mines-Télécom Paris (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom Paris (IMT)-Institut Mines-Télécom Paris (IMT), Centre National de la Recherche Scientifique (CNRS) |
| المصدر: | 14th International Conference on Industrial Informatics https://hal.science/hal-01313376 14th International Conference on Industrial Informatics, Jul 2016, Poitiers, France |
| بيانات النشر: | HAL CCSD IEEE |
| سنة النشر: | 2016 |
| المجموعة: | Université de Nantes: HAL-UNIV-NANTES |
| مصطلحات موضوعية: | [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| جغرافية الموضوع: | Poitiers, France |
| الوصف: | International audience ; There have been several research works on reconfig-urable parallel manipulators in the last few years. Some robots are reconfigurable in the sense that the position of the anchor points on the moving platform or the actuated joints can be changed. Some problems may arise when one intends to make a prototype and develop its control scheme. A reconfigurable planar parallel robot, named NaVARo, is a 3-DOF planar parallel manipulator with eight actuation modes. The subject of this paper is about a control scheme of NaVARo while taking advantage of multiple sensors such as motor encoders, additional absolute encoders and magnetic sensors used to determine the current assembly mode of the manipulator. Finally, a methodology is presented to determine the home configuration of NaVARo. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| Relation: | hal-01313376; https://hal.science/hal-01313376; https://hal.science/hal-01313376/document; https://hal.science/hal-01313376/file/INDIN2016_Chablat_Jha_Caro.pdf |
| الاتاحة: | https://hal.science/hal-01313376 https://hal.science/hal-01313376/document https://hal.science/hal-01313376/file/INDIN2016_Chablat_Jha_Caro.pdf |
| Rights: | info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.165DB6CE |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |