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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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2013/136841 |
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| _version_ | 1832556439951900672 |
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| author | Massimo Callegari Luca Carbonari Giacomo Palmieri Matteo-Claudio Palpacelli Donatello Tina |
| author_facet | Massimo Callegari Luca Carbonari Giacomo Palmieri Matteo-Claudio Palpacelli Donatello Tina |
| author_sort | Massimo Callegari |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-cb4b0461bc694f24b9a69c030c535d1c |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-cb4b0461bc694f24b9a69c030c535d1c2025-02-03T05:45:27ZengWileyJournal of Control Science and Engineering1687-52491687-52572013-01-01201310.1155/2013/136841136841Position Control of a 3-CPU Spherical Parallel ManipulatorMassimo Callegari0Luca Carbonari1Giacomo Palmieri2Matteo-Claudio Palpacelli3Donatello Tina4Department of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, ItalyDepartment of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italye-Campus University, Faculty of Engineering, 22060 Novedrate, ItalyDepartment of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, ItalyDepartment of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, ItalyThe 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.http://dx.doi.org/10.1155/2013/136841 |
| spellingShingle | Massimo Callegari Luca Carbonari Giacomo Palmieri Matteo-Claudio Palpacelli Donatello Tina Position Control of a 3-CPU Spherical Parallel Manipulator Journal of Control Science and Engineering |
| title | Position Control of a 3-CPU Spherical Parallel Manipulator |
| title_full | Position Control of a 3-CPU Spherical Parallel Manipulator |
| title_fullStr | Position Control of a 3-CPU Spherical Parallel Manipulator |
| title_full_unstemmed | Position Control of a 3-CPU Spherical Parallel Manipulator |
| title_short | Position Control of a 3-CPU Spherical Parallel Manipulator |
| title_sort | position control of a 3 cpu spherical parallel manipulator |
| url | http://dx.doi.org/10.1155/2013/136841 |
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