A Framework for the Control of a Parallel Manipulator with Several Actuation Modes

Damien Chablat (1) , Ranjan Jha (1) , Stéphane Caro (1, 2, 3, 4)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 CNRS - Centre National de la Recherche Scientifique

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.

Domaines: Robotique [cs.RO]

Damien Chablat, Ranjan Jha, Stéphane Caro. A Framework for the Control of a Parallel Manipulator with Several Actuation Modes. 14th International Conference on Industrial Informatics, Jul 2016, Poitiers, France. ⟨hal-01313376⟩