On the adequation of dynamic modelling and control of parallel kinematic manipulators.

Erol Ozgür (1) , Nicolas Andreff (2) , Philippe Martinet (1)

1 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

This paper addresses the problem of controlling the dynamics of parallel kinematic manipulators from a global point of view, where modeling, sensing and control are considered simultaneously. The methodology is presented through the examples of the Gough-Stewart manipulator and the Quattro robot.

Mots clés: Parallel kinematic manipulators; computed torque control; vision-based control; dynamic modelin.

Mots clés: dynamic modelin

Domaines: Micro et nanotechnologies/Microélectronique

Erol Ozgür, Nicolas Andreff, Philippe Martinet. On the adequation of dynamic modelling and control of parallel kinematic manipulators.. 1st Joint International Conference on Multibody System Dynamics (IMSD'10)., May 2010, Lappeenranta, Finland. 10 p. ⟨hal-00586860⟩