Details
| Original language | English |
|---|---|
| Title of host publication | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 |
| Place of Publication | Pasadena, USA |
| Pages | 3863-3868 |
| Number of pages | 6 |
| Publication status | Published - 2008 |
| Event | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 19 May 2008 → 23 May 2008 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
In the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot's traveling platform. An additional prismatic actuator is applied to a 3RRR planar parallel manipulator. It allows a selective reconfiguration of the kinematic structure according to several optimization criteria. Based on an index that we denote the gain of the Jacobian matrix the position of the redundant actuator is changed in a discrete manner. The resulting optimized switching patterns lead to a great increase of the traveling platform's pose accuracy. Between two switching operations the prismatic actuator's position is supposed to be locked. Hence, sources of error, e.g. the joint clearance, can be minimized. Several analysis examples demonstrate the effectiveness of the proposed concept in combination with the developed optimization procedure.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
2008 IEEE International Conference on Robotics and Automation, ICRA 2008. Pasadena, USA, 2008. p. 3863-3868 4543804 (Proceedings - IEEE International Conference on Robotics and Automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Improving the pose accuracy of a planar 3RRR parallel manipulator using kinematic redundancy and optimized switching patterns
AU - Kotlarski, Jens
AU - Abdellatif, H.
AU - Heimann, Bodo
PY - 2008
Y1 - 2008
N2 - In the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot's traveling platform. An additional prismatic actuator is applied to a 3RRR planar parallel manipulator. It allows a selective reconfiguration of the kinematic structure according to several optimization criteria. Based on an index that we denote the gain of the Jacobian matrix the position of the redundant actuator is changed in a discrete manner. The resulting optimized switching patterns lead to a great increase of the traveling platform's pose accuracy. Between two switching operations the prismatic actuator's position is supposed to be locked. Hence, sources of error, e.g. the joint clearance, can be minimized. Several analysis examples demonstrate the effectiveness of the proposed concept in combination with the developed optimization procedure.
AB - In the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot's traveling platform. An additional prismatic actuator is applied to a 3RRR planar parallel manipulator. It allows a selective reconfiguration of the kinematic structure according to several optimization criteria. Based on an index that we denote the gain of the Jacobian matrix the position of the redundant actuator is changed in a discrete manner. The resulting optimized switching patterns lead to a great increase of the traveling platform's pose accuracy. Between two switching operations the prismatic actuator's position is supposed to be locked. Hence, sources of error, e.g. the joint clearance, can be minimized. Several analysis examples demonstrate the effectiveness of the proposed concept in combination with the developed optimization procedure.
UR - http://www.scopus.com/inward/record.url?scp=51649122783&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543804
DO - 10.1109/ROBOT.2008.4543804
M3 - Conference contribution
AN - SCOPUS:51649122783
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3863
EP - 3868
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CY - Pasadena, USA
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -