Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots
Joint Authors
Callegari, Massimo
Bruzzone, Luca
Source
Advances in Mechanical Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-02-10
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Force control of parallel robots with rotational degrees of freedom through impedance algorithms is considerably influenced by the representation method of the end-effector orientation.
Using the natural invariants of the rotation matrix and the angular velocity vector in the impedance control law has some theoretical advantages, which derive from the Euclidean-geometric meaning of these entities.
These benefits are particularly evident in case of robotic architectures with three rotational degrees of freedom (serial or parallel wrists with spherical motion).
The behaviour of a 3-CPU parallel robot controlled by an impedance algorithm based on this concepts is assessed through multibody simulations, and the results confirm the effectiveness of the proposed approach.
American Psychological Association (APA)
Bruzzone, Luca& Callegari, Massimo. 2010. Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots. Advances in Mechanical Engineering،Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-460333
Modern Language Association (MLA)
Bruzzone, Luca& Callegari, Massimo. Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots. Advances in Mechanical Engineering No. 2010 (2010), pp.1-9.
https://search.emarefa.net/detail/BIM-460333
American Medical Association (AMA)
Bruzzone, Luca& Callegari, Massimo. Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots. Advances in Mechanical Engineering. 2010. Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-460333
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-460333