Kinematic, dynamic modeling and remote control of a robotic machine

Dan Zhang; Lihui Wang; Zhuming Bi

doi:10.1109/ICCA.2007.4376801

Kinematic, dynamic modeling and remote control of a robotic machine

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

Abstract

In this paper, a robotic machine with 3degrees of freedom (DOF) is proposed. First, the geometric structure of the 3 DOF parallel robot is presented; in the mechanism, a fourth kinematic link a passive link connecting the base center to the moving platform center is introduced. This last link is used to constrain the motion of the moving platform to only 3 DOF. Then, the kinematic and dynamic models are developed. With the models, a web based remote control approach is then applied. The 3 DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3 DOF structure is set up, and some condusions are given by the end.

Original language	English
Title of host publication	2007 IEEE International Conference on Control and Automation, ICCA
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2441-2446
Number of pages	6
ISBN (Print)	1424408180, 9781424408184
DOIs	https://doi.org/10.1109/ICCA.2007.4376801
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Control and Automation, ICCA - Guangzhou, China Duration: 30 May 2007 → 1 Jun 2007

Publication series

Name	2007 IEEE International Conference on Control and Automation, ICCA

Conference

Conference	2007 IEEE International Conference on Control and Automation, ICCA
Country/Territory	China
City	Guangzhou
Period	30/05/07 → 1/06/07

Keywords

Dynamics
Kinematics
Machine tool
Robot

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

More information

10.1109/ICCA.2007.4376801

Cite this

Zhang, D., Wang, L., & Bi, Z. (2007). Kinematic, dynamic modeling and remote control of a robotic machine. In 2007 IEEE International Conference on Control and Automation, ICCA (pp. 2441-2446). Article 4376801 (2007 IEEE International Conference on Control and Automation, ICCA). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCA.2007.4376801

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abstract = "In this paper, a robotic machine with 3degrees of freedom (DOF) is proposed. First, the geometric structure of the 3 DOF parallel robot is presented; in the mechanism, a fourth kinematic link a passive link connecting the base center to the moving platform center is introduced. This last link is used to constrain the motion of the moving platform to only 3 DOF. Then, the kinematic and dynamic models are developed. With the models, a web based remote control approach is then applied. The 3 DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3 DOF structure is set up, and some condusions are given by the end.",

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author = "Dan Zhang and Lihui Wang and Zhuming Bi",

year = "2007",

doi = "10.1109/ICCA.2007.4376801",

language = "English",

isbn = "1424408180",

series = "2007 IEEE International Conference on Control and Automation, ICCA",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Zhang, D , Wang, L & Bi, Z 2007, Kinematic, dynamic modeling and remote control of a robotic machine. in 2007 IEEE International Conference on Control and Automation, ICCA., 4376801, 2007 IEEE International Conference on Control and Automation, ICCA, Institute of Electrical and Electronics Engineers Inc., pp. 2441-2446, 2007 IEEE International Conference on Control and Automation, ICCA, Guangzhou, China, 30/05/07. https://doi.org/10.1109/ICCA.2007.4376801

Kinematic, dynamic modeling and remote control of a robotic machine. / Zhang, Dan ; Wang, Lihui; Bi, Zhuming.
2007 IEEE International Conference on Control and Automation, ICCA. Institute of Electrical and Electronics Engineers Inc., 2007. p. 2441-2446 4376801 (2007 IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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T1 - Kinematic, dynamic modeling and remote control of a robotic machine

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AU - Wang, Lihui

AU - Bi, Zhuming

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N2 - In this paper, a robotic machine with 3degrees of freedom (DOF) is proposed. First, the geometric structure of the 3 DOF parallel robot is presented; in the mechanism, a fourth kinematic link a passive link connecting the base center to the moving platform center is introduced. This last link is used to constrain the motion of the moving platform to only 3 DOF. Then, the kinematic and dynamic models are developed. With the models, a web based remote control approach is then applied. The 3 DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3 DOF structure is set up, and some condusions are given by the end.

AB - In this paper, a robotic machine with 3degrees of freedom (DOF) is proposed. First, the geometric structure of the 3 DOF parallel robot is presented; in the mechanism, a fourth kinematic link a passive link connecting the base center to the moving platform center is introduced. This last link is used to constrain the motion of the moving platform to only 3 DOF. Then, the kinematic and dynamic models are developed. With the models, a web based remote control approach is then applied. The 3 DOF parallel robot can be used as a machine tool for the purpose of polishing, deburring and milling, etc. Finally, an experiment to demonstrate the proposed 3 DOF structure is set up, and some condusions are given by the end.

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KW - Kinematics

KW - Machine tool

KW - Robot

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M3 - Conference article published in proceeding or book

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SN - 9781424408184

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Kinematic, dynamic modeling and remote control of a robotic machine

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Conference

Keywords

ASJC Scopus subject areas

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