The researchers at the Polytechnic University of Marche developed a spherical parallel manipulator designed for the orientation of parts or tools: the paper presents the first experimental results on such innovative machine. A model of the prototype robot has been realised by means of commercial multibody software then both open-loop and closed loop dynamics has been studied. The relative simplicity of machine kinematics allowed also to experiment the use of controllers with compensation of gravitational terms.
Modelling and control of a spherical robotic device
PALMIERI, GIACOMO;
2013-01-01
Abstract
The researchers at the Polytechnic University of Marche developed a spherical parallel manipulator designed for the orientation of parts or tools: the paper presents the first experimental results on such innovative machine. A model of the prototype robot has been realised by means of commercial multibody software then both open-loop and closed loop dynamics has been studied. The relative simplicity of machine kinematics allowed also to experiment the use of controllers with compensation of gravitational terms.File in questo prodotto:
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