Abstract
Industrialization of parallel robots requires the development of control laws that exploit their capabilities in high performance tasks. Although research in this area is increasing, theoretical results need to be experimentally tested in order to evaluate the proposed solutions. In this paper, implementation requirements of control laws in parallel robotics are discussed, and a design for implementing a real-time control and validation environment is proposed. This design provides three main advantages: (1) is focused on reducing the implementation and validation effort of control laws on prototypes, (2) is defined as an open and modular design, which allows to implement new functionalities, and (3) proposes a hardware abstraction layer which simplifies the implementation of different control laws for a given prototype. The proposed design is validated by its implementation in a five revolute joints parallel robot prototype.
Published Version
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