5-bar 병렬 로봇의 동역학 해석 및 제어

Dynamics Analysis and Control of Five Bar Parallel Robot

  • 정영훈 (영남대학교 기계공학과 대학원) ;
  • 이재원 (영남대학교 기계공학과) ;
  • 주해호 (영남대학교 기계공학과)
  • 발행 : 2000.04.20

초록

This paper propose the method to obtain the inverse kinematics and the Jacobian of the 5-bar parallel robot and apply the nonlinear controller to the 5-bar parallel robot with the dynamic analyses using the Jacobian of the Passive joints with respect to the active ones and singular value decomposition(SVD). It also experimentally shows that we can do high-speed and accuracy tasks using nonlinear control method. And it explains the relation between the property of the position control and manipulability using a new performance index.

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