Position Control of a 3-CPU Spherical Parallel Manipulator
Joint Authors
Palpacelli, Matteo-Claudio
Palmieri, Giacomo
Callegari, Massimo
Tina, Donatello
Carbonari, Luca
Source
Journal of Control Science and Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-02-21
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
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.
American Psychological Association (APA)
Callegari, Massimo& Carbonari, Luca& Palmieri, Giacomo& Palpacelli, Matteo-Claudio& Tina, Donatello. 2013. Position Control of a 3-CPU Spherical Parallel Manipulator. Journal of Control Science and Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-448604
Modern Language Association (MLA)
Callegari, Massimo…[et al.]. Position Control of a 3-CPU Spherical Parallel Manipulator. Journal of Control Science and Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-448604
American Medical Association (AMA)
Callegari, Massimo& Carbonari, Luca& Palmieri, Giacomo& Palpacelli, Matteo-Claudio& Tina, Donatello. Position Control of a 3-CPU Spherical Parallel Manipulator. Journal of Control Science and Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-448604
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-448604
