PORTO @ 
Archivio Istituzionale della Ricerca
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishThe researchers at the Polytechnic University of Marche developed a spherical parallel manipulator designed for the orientation of parts or tools: the paper presents the first experimental results on such innovative machine. A model of the prototype robot has been realised by means of commercial multibody software then both open-loop and closed loop dynamics has been studied. The relative simplicity of machine kinematics allowed also to experiment the use of controllers with compensation of gravitational terms.
Modelling and control of a spherical robotic device / Carbonari, L.; Palmieri, G.; Palpacelli, M. -C.; Tina, D.. - (2013), pp. 427-434. ((Intervento presentato al convegno 32nd IASTED International Conference on Modelling, Identification and Control, MIC 2013 tenutosi a Innsbruck, aut nel 2013 [10.2316/P.2013.794-037].
| Titolo: | Modelling and control of a spherical robotic device | |
| Autori: | ||
| Data di pubblicazione: | 2013 | |
| Abstract: | The researchers at the Polytechnic University of Marche developed a spherical parallel manipulato...r designed for the orientation of parts or tools: the paper presents the first experimental results on such innovative machine. A model of the prototype robot has been realised by means of commercial multibody software then both open-loop and closed loop dynamics has been studied. The relative simplicity of machine kinematics allowed also to experiment the use of controllers with compensation of gravitational terms. | |
| ISBN: | 978-0-88986-943-1 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11583/2932080
Copyright © 2022