The article presents the inverse dynamics model of a novel translating parallel machine and proposes the structure of a force controller for the execution of tasks characterised by interaction with the environment. The task space model of machine’s dynamics is obtained in an efficient and compact form by means of the principle of virtual work. A virtual prototyping environment has been set up to test by computer simulation the potential of such kinematic architecture: the resulting dynamics is rather poor, mainly due to the high moving masses, but it is shown that hybrid position/force control schemes should be able to provide good performances, including the case of rather difficult operations, such as the peg-in-hole assembly.
Dynamics Modelling and Control of the 3-RCC Translational Platform / Callegari, Massimo; Palpacelli, MATTEO CLAUDIO; Principi, M.. - In: MECHATRONICS. - ISSN 0957-4158. - STAMPA. - 16:10(2006), pp. 589-605. [10.1016/j.mechatronics.2006.06.001]
Dynamics Modelling and Control of the 3-RCC Translational Platform
CALLEGARI, Massimo;PALPACELLI, MATTEO CLAUDIO;
2006-01-01
Abstract
The article presents the inverse dynamics model of a novel translating parallel machine and proposes the structure of a force controller for the execution of tasks characterised by interaction with the environment. The task space model of machine’s dynamics is obtained in an efficient and compact form by means of the principle of virtual work. A virtual prototyping environment has been set up to test by computer simulation the potential of such kinematic architecture: the resulting dynamics is rather poor, mainly due to the high moving masses, but it is shown that hybrid position/force control schemes should be able to provide good performances, including the case of rather difficult operations, such as the peg-in-hole assembly.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
