Beschreibung
The design of powerful control that suits multiple types of parallel kinematic robots is extraordinarily challenging. The diversity of parallel kinematics and their optimization that customizes them to specific tasks require highly individualized control functionalities. This work intends to provide principles, methods and tools for the development of such control software. It aims at the time-efficient realization of custom robot controllers that suit particular application domains and use hardware resources as sophisticated as possible. A task-frame formalism for trajectory generation is defined exploiting the full potential of parallel robots. This formalism can be used as a generic programming interface for parallel robots. Design patterns for so-called active connectors, modular motion planning, sensor integration and restricted state machines in token-passing context are discussed with regard to control of parallel robots. RCA562, a control application for parallel robots incorporating this knowledge, serves as an illustrative validation example.
