Marcel Honegger

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This paper presents the dynamic equation, non-linear control and dynamic parameters identiication of the Hexaglide, a new 6 dof parallel manipulator intended to be used as a high speed milling machine. Using a method based on the virtual work principle , the dynamic equation is found in a compact linear form and then used in a non-linear adaptive control(More)
In tunneling and mining construction work, heavy and large manipulators are used to spray liquid concrete on the walls. These manipulators are usually operated manually with simple units allowing to control all actuators independently. In cooperation between industry and university, a novel control system has been developed for the redundant heavy(More)
In this paper we propose a method based on the virtual work principle to nd a linear form of the dynamic equation of fully parallel robots. Compared to other methods, it has the advantage that it does not need to open the closed loop structure into a tree-structure robot. It considers rather each body separately using its Jacobian matrix to project the(More)
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