A Servo Controlled 3-RRR Parallel Robot Operation Modes and Workspace Safety
Guilherme de Faveri1; Alexandre Campos1; Clodoaldo Schutel Furtado Neto1
1 Universidade do Estado de Santa Catarina
doi:10.20906/CPS/COB-2015-1235
Resumo
Robotic manipulators have been used in industry in different application such pick and place, assembly and welding. Based in closed kinematic chains, parallel robots presents high relation between stiffness and weight, otherwise this architecture presents limited workspace and different kinds of singularity. This paper presents some algorithms to control a servomotor based 3-RRR parallel robot designed and built in CCT-UDESC. Some algorithms are described to on-line control a master-slave replication using computer mouse as master and 3-RRR parallel robot as slave. The only system control used was the internal servomotor control which presented satisfactory results in Arduino based application. Developed algorithms controls position uses the solution to Inverse Kinematic Problem using a workspace parametrization to skip from inverse kinematic singularity.
Palavras-chave: Inverse Kinematic Problem; parallel robot; singularity deviation; on-line control