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�������պ����ѧѧ�� 2008, Vol. 34 Issue (03) :299-303    DOI:
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Trajectory control and online monitoring of a parallel planar robot
Chen Weihai, Li Xiang, Yu Shouqian, Wang Jianhua*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Kinematic control of 3-DOF planar parallel manipulators was proposed. To realize online position trajectory planning, the inverse solution of parallel robot was discussed. Two steps were proposed to realize the online monitoring of parallel robot. The first step was using the algorithm of closed solution to analyze parallel robot-s position trajectory, and the second step was using the combination with bisection method and interpolation method to calculate the forward kinematic solution online. The control system of modular manipulators based on PC was also discussed and realized, which included the program of the algorithm of parallel robot-s kinematic control using C+ + language and the design of modular robot-s controller based on PMD(performance motion devices). The test of control system was on 3-DOF modular planar parallel manipulators, and the comparison between numerical method under MATLAB and analytical method programmed by C+ + language was done. The results of the test and the comparison demonstrate the effectiveness of kinematic algorithm and motion controllers.
Keywords�� parallel robots   trajectory control   online monitoring     
Received 2007-06-29;
Fund:

������Ȼ��ѧ����������Ŀ(60775059);863�ƻ�������Ŀ(2006AA04Z218)

About author: ��ΰ��(1955��),��,�㽭��ɽ��,����,whchen55@163.com.
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��ΰ��,����,����ǫ,������.ƽ�沢�������˵Ĺ켣���������߼��[J]  �������պ����ѧѧ��, 2008,V34(03): 299-303
Chen Weihai, Li Xiang, Yu Shouqian, Wang Jianhua.Trajectory control and online monitoring of a parallel planar robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(03): 299-303
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