哈尔滨工业大学学报（英文版）2006，Vol.13Issue(3)：320-324,5.
Design considerations of high precision 6-HTRT parallel manipulator
Design considerations of high precision 6-HTRT parallel manipulator
ZHANG Xiu-feng 1SUN Li-ning1
作者信息
- 1. College of Automation, Harbin Engineering University, Harbin 150001 , China
- 折叠
摘要
Abstract
Describes a new architecture of a parallel robot with six degrees of freedom and focuses on improving orientation accuracy of movable platform in mechanism, error correction and control methods. A set of formulations about inverse kinematics, Jacobin matrix, and forward kinematics for the high precision 6-HTRT parallel robots is presented. The analysis of errors existing in the manipulator is discussed and a novel approach for error correction is advanced. By DSP technique, inverse kinematics is solved in real time conditions with high precision and the hardware control system is given. The experimental results demonstrate the effectiveness of the proposed technique.关键词
parallel robot/inverse kinematics/forward kinematics/Jacobian error correctionKey words
parallel robot/inverse kinematics/forward kinematics/Jacobian error correction分类
信息技术与安全科学引用本文复制引用
ZHANG Xiu-feng,SUN Li-ning..Design considerations of high precision 6-HTRT parallel manipulator[J].哈尔滨工业大学学报（英文版）,2006,13(3):320-324,5.
