| dc.contributor.author | Hernández R, Victor F | |
| dc.date.accessioned | 2011-10-05T09:02:29Z | |
| dc.date.available | 2011-10-05T09:02:29Z | |
| dc.date.issued | 2011 | |
| dc.identifier.uri | http://hdl.handle.net/11250/136680 | |
| dc.description | Masteroppgave i mekatronikk MAS500 2011 – Universitetet i Agder, Grimstad | en_US |
| dc.description.abstract | The purpose of this thesis was to develop a control system for the Gantry-Tau Parallel Kinematic
Machine, based in the motion behaviour of the robot, verification stages of the model and testing
with an actual prototype.
The Gantry-Tau is a parallel robot where its structure offers additional characteristics not found
in other models like high dexterity, large workspace and high reconfiguration. Still, the robot is
undergoing through design at different levels.
The model-based control system was made in Matlab/Simulink and includes the kinematics of the
Gantry-Tau. Also, the system was verified using SimulationX for allowing a quick progress through
the project. The tests were made using an extended version of the mentioned Matlab/Simulink
program loaded into the Gantry-Tau prototype. This extension includes standard programming
levels in robotics like path planning and a controller for the system.
The results in this thesis permit the development of other characteristics of the Gantry-Tau, and
to be used as an example for the modelling and study of other parallel kinematic machines. | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | Universitetet i Agder / University of Agder | en_US |
| dc.title | Development of a model-based control system for the Gantry-Tau parallel kinematic machine | en_US |
| dc.type | Master thesis | en_US |
| dc.source.pagenumber | vii, 63, [1] | en_US |
