The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aimof designing an interaction controller. The relative simplicity ofmachine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well. Copyright �� 2013 Massimo Callegari et al. doi.org/10.1155/2013/136841.
Position control of a 3-CPU spherical parallel manipulator
PALMIERI, GIACOMO;
2013-01-01
Abstract
The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aimof designing an interaction controller. The relative simplicity ofmachine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well. Copyright �� 2013 Massimo Callegari et al. doi.org/10.1155/2013/136841.File in questo prodotto:
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