同軸入力軸を有する3自由度球面パラレルマニピュレータによる慣性視線安定化
Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
3-RRR球面パラレルマニピュレータを用いて慣性視線安定化を行い、特異点が作業領域から遠いことを保証し、MATLAB/Simulinkで制御戦略を検証した。
著者: Alexandre Le, Guillaume Rance, Fabrice Rouillier, Damien Chablat
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from the kinematic point of view. In particular, one guarantees that the singular loci (with the resulting numerical instabilities and inappropriate behavior of the mechanism) are far away from the prescribed workspace. Once the kinematics of the device is certified, a control strategy needs to be implemented in order to stabilize the LOS through the upper platform of the mechanism. Such a work is done with MATLAB Simulink using a SimMechanics model of our robot.
