Real-Time Interpolator and Contour Tracking in Link-Space for a 3 DOF Parallel Mechanism

Abstract:

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Parallel mechanisms could be hardly used in contour tracking because of their mechanism features. This study proposed a link-space real time contour tracking for a 3 DOF (Z、α and β) hydraulic parallel mechanism. The essence of this approach is to convert control points of command trajectory to link space by inverse kinematics. A real-time interpolator was created and the multi-axis cross-coupled pre-compensation control (MCCPM) was constructed for link-space contour tracking. It was shown that a contour-accurate trajectory tracking could be performed which was impossible in the original Z-α-β space. Other advantages of this link-space approach were time efficiency and the uniform tracking velocity.

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Periodical:

Main Theme:

Edited by:

Sheng-Jye Hwang and Sen-Yung Lee

Pages:

415-436

DOI:

10.4028/www.scientific.net/MSF.594.415

Citation:

Y. M. Cheng et al., "Real-Time Interpolator and Contour Tracking in Link-Space for a 3 DOF Parallel Mechanism", Materials Science Forum, Vol. 594, pp. 415-436, 2008

Online since:

August 2008

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$35.00

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