Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4586
Título: Control of a 6-DOF parallel manipulator through a mechatronic approach
Autor: Rosário, João Maurício
Dumur, D.
Machado, J. A. Tenreiro
Palavras-chave: Hierarchical architecture
Reconfigurable computing
Modifications and updates
Stewart—Gough platform
Open architecture implementation
Data: 2007
Editora: SAGE Publications
Relatório da Série N.º: Journal of Vibration and Control; Vol. 13, Issues 9-10
Resumo: 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.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4586
ISSN: 1077-5463
1741-2986
Versão do Editor: http://jvc.sagepub.com/content/13/9-10/1431.abstract
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