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Type: Artigo de periódico
Title: Control Of A 6-dof Parallel Manipulator Through A Mechatronic Approach
Author: Rosario J.M.
Dumur D.
MacHado J.A.T.
Abstract: 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. © 2007 SAGE Publications Los Angeles.
Rights: fechado
Identifier DOI: 10.1177/1077546307077414
Date Issue: 2007
Appears in Collections:Unicamp - Artigos e Outros Documentos

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