Wednesday, April 15, 2020

Hybrid Control for a Hexa Parallel Robot

This paper presents an approach of the vision/position hybrid control for a Hexa parallel robot. A 3D vision system (3DVS) is combined with a PID position controller to form a two-level closed-loop controller of the robot. The PID position controller is used to control the arms of the robot to reach the desired position. The vision system measures the pose of the end-effector of the robot to minimize the position error due to the mechanical vibration and dynamics coupling effect between the arms in the structure of the parallel robot. The experimental result shows the effectiveness and feasibility of the proposed method.