Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Abstract

This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experimentʹs results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

Generalidades de robots paralelos

“…Dados los diferentes campos en los que se pueden usar este tipo de dispositivos, se han desarrollado estrategias de control de movimiento, entre las cuales están controĺ optimo [34], adaptativo [35], H∞, LQG [36], predictivo [37], modos deslizantes [38], PI [39], cartesiano [40], y otras [41][42][43], que se diseñan partiendo del modelo matemático que representa el robot.…”