Position Control of a 3-CPU Spherical Parallel Manipulator

被引：10

作者：

Callegari, Massimo ^{[1
]}

Carbonari, Luca ^{[1
]}

Palmieri, Giacomo ^{[2
]}

Palpacelli, Matteo-Claudio ^{[1
]}

Tina, Donatello ^{[1
]}

机构：

[1] Polytech Univ Marche, Dept Ind Engn & Math Sci, I-60131 Ancona, Italy

[2] E Campus Univ, Fac Engn, I-22060 Novedrate, Italy

来源：

JOURNAL OF CONTROL SCIENCE AND ENGINEERING | 2013年 / 2013卷

关键词：

D O I：

10.1155/2013/136841

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：12

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