Control of a 6-DOF parallel manipulator through a mechatronic approach

• Autor(a) principal: Rosário, João Maurício
• Data de Publicação: 2007
• Outros Autores: Dumur, D., Machado, J. A. Tenreiro
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.22/4586
• topic: Hierarchical architecture; Reconfigurable computing; Modifications and updates; Stewart—Gough platform; Open architecture implementation

This paper shows that a hierarchical architecture, distributing several control actions in growing levels of complexity and using resources of reconfigurable computing, enables one to take into account the ease of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart—Gough platform control (a platform applied as the solution to countless practical problems) is presented using reconfigurable computing. The software and hardware developed are structured in independent blocks. This open architecture implementation allows easy expansion of the system and better adaptation of the platform to its related tasks.