Planning a trajectory of a 6-DOF parallel robot ⟨⟨ HEXA ⟩⟩

被引：0

作者：

Hasnaa, El Hansali ^{[1
]}

Mohammed, Bennani ^{[1
]}

机构：

[1] Univ Mohammed V Rabat, ENSET Rabat, Lab Mech & Ind Proc & Proc LM2PI, Rabat, Morocco

来源：

2016 INTERNATIONAL CONFERENCE ON ELECTRICAL AND INFORMATION TECHNOLOGIES (ICEIT) | 2016年

关键词：

Inverse Kinematic model; planning trajectory; robot "HEXA; simulation in MATLAB;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The parallel structure robot with 6-DOF "HEXA" has found use in high-end systems when multiple degrees of freedom and large workspace are required. In this paper, we establish the inverse kinematic model of robot "HEXA" in order to follow various given trajectories. However, simulating robots is one of the essential elements of modern manufacturing plants, so in this work we plan simples and complexes trajectories, and we simulate the capacity of the robot to follow these trajectories in order to be efficient in planning tasks in parallel structures such as the legged robots.

引用

页码：300 / 305

页数：6

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