This paper deals with the simulation of an inverse dynamics control scheme for a pure translational Cartesian parallel manipulator. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the mathematical model of the dynamics. The effectiveness of the proposed simplification is then tested through a simulated control scheme realized in a computer assisted modelling environment

Simplified model for inverse dynamics control of the Cartesian parallel manipulator I.Ca.Ro / Carbonari, Luca; Callegari, Massimo; Palmieri, Giacomo; Palpacelli, MATTEO CLAUDIO. - STAMPA. - (2014), pp. 1406-1412. (Intervento presentato al convegno 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics tenutosi a Besancon; France nel 8 July 2014 through 11 July 2014) [10.1109/AIM.2014.6878279].

Simplified model for inverse dynamics control of the Cartesian parallel manipulator I.Ca.Ro.

CARBONARI, LUCA;CALLEGARI, Massimo;PALMIERI, GIACOMO;PALPACELLI, MATTEO CLAUDIO
2014-01-01

Abstract

This paper deals with the simulation of an inverse dynamics control scheme for a pure translational Cartesian parallel manipulator. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the mathematical model of the dynamics. The effectiveness of the proposed simplification is then tested through a simulated control scheme realized in a computer assisted modelling environment
2014
9781479957354
9781479957361
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/188102
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