Position Control of a 3-CPU Spherical Parallel Manipulator

Position Control of a 3-CPU Spherical Parallel Manipulator

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...

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Veröffentlicht in:Journal of Control Science and Engineering 2013-01, Vol.2013 (2013), p.4-15
Hauptverfasser: Palpacelli, Matteo-Claudio, Carbonari, Luca, Palmieri, Giacomo, Tina, Donatello, Callegari, Massimo
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Electric motors
Equipment and supplies
Incremental motion control
Inverse
Kinematics
Manipulators
Mechanical properties
Methods
Motion
Orientation
Robot arms
Robots
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Beschreibung
Zusammenfassung: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.
ISSN:1687-5249
1687-5257
DOI:10.1155/2013/136841