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 aim of designing an interaction controller. The relative simplicity of machine 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.
Position Control of a 3-CPU Spherical Parallel Manipulator / Callegari, Massimo; Carbonari, Luca; Palmieri, Giacomo; Palpacelli, MATTEO CLAUDIO; Tina, D.. - In: JOURNAL OF CONTROL SCIENCE AND ENGINEERING. - ISSN 1687-5249. - ELETTRONICO. - volume 2013:ID 136841(2013). [10.1155/2013/136841]
Position Control of a 3-CPU Spherical Parallel Manipulator
CALLEGARI, Massimo;CARBONARI, LUCA;PALMIERI, GIACOMO;PALPACELLI, MATTEO CLAUDIO;
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 aim of designing an interaction controller. The relative simplicity of machine 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
