Experimental Validation of the Extended Computed Torque Control Approach in the 5R Parallel Robot Prototype

摘要

Parallel robots have become an interesting alternative to serial robots due to their capability to perform certain tasks at high speed and precision. However, in order to fully exploit the theoretical capabilities of these mechanism, model-based, advanced control approaches are required. In this paper, the Extended CTC control approach is introduced. This scheme is based on the introduction of the data of the passive joint sensors on a CTC-based control law. Experimental validation on a 5R parallel manipulator prototype is provided in order to demonstrate the effectiveness of the approach.