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Position control of a 3-CPU spherical parallel manipulator
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نویسنده
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callegari m. ,carbonari l. ,palmieri g. ,palpacelli m.-c. ,tina d.
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منبع
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journal of control science and engineering - 2013 - دوره : 2013 - شماره : 0
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چکیده
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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.
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آدرس
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department of industrial engineering and mathematical sciences,polytechnic university of marche, Italy, department of industrial engineering and mathematical sciences,polytechnic university of marche, Italy, e-campus university,faculty of engineering, Italy, department of industrial engineering and mathematical sciences,polytechnic university of marche, Italy, department of industrial engineering and mathematical sciences,polytechnic university of marche, Italy
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Authors
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