Archivio Istituzionale della RicercaThe 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].
Modelling and control of a spherical robotic device
Carbonari L.;
2013
Abstract
The 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.
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https://hdl.handle.net/11583/2932080