Position Control of a 3-CPU Spherical Parallel Manipulator-Reference-Cited by-同舟云学术

Position Control of a 3-CPU Spherical Parallel Manipulator

Published:2013 Issue: Volume:2013 Page:1-12
ISSN:1687-5249
Container-title:Journal of Control Science and Engineering
language:en
Short-container-title:Journal of Control Science and Engineering

Author:

Callegari Massimo¹^ORCID,Carbonari Luca¹^ORCID,Palmieri Giacomo²^ORCID,Palpacelli Matteo-Claudio¹^ORCID,Tina Donatello¹

Affiliation:

1. Department of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy

2. e-Campus University, Faculty of Engineering, 22060 Novedrate, Italy

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.

Publisher

Hindawi Limited

Subject

Electrical and Electronic Engineering,Computer Science Applications,Modeling and Simulation

Link

http://downloads.hindawi.com/journals/jcse/2013/136841.pdf

Reference11 articles.

1. Parallel Wrists for Enhancing Grasping Performance

2. Impedance Control of a Spherical Parallel Platform

3. Echelon form solution of direct kinematics for the general fully-parallel spherical wrist

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