Authors: Ahmed Shaik, Nkgatho S. Tlale, Glen Bright
Addresses: Council for Scientific and Industrial Research, CSIR 0001, Pretoria, South Africa. ' Council for Scientific and Industrial Research, CSIR 0001, Pretoria, South Africa. ' School of Mechanical Engineering, UKZN-4001, Durban, South Africa
Abstract: For many parallel robots, the exact position in space of the end effector or tool head cannot be sensed directly. They operate under overall |open loop| control as the software controlling the machine makes a calculated estimate of where the tool head should be. This is done by monitoring sensors on axes that track linear translation and rotations of shafts/gears. For low precision applications, this system is appropriate. However, positional errors can occur and accumulate. There exists a need for a sensor system that is capable of acquiring the exact spatial coordinates of the tool point or end effector directly.
Keywords: end effectors; parallel robots; positional errors; tool head; robot design; robot sensors; spatial coordinates; robot positioning.
International Journal of Intelligent Systems Technologies and Applications, 2008 Vol.4 No.3/4, pp.368 - 385
Published online: 22 Feb 2008 *Full-text access for editors Access for subscribers Purchase this article Comment on this article