Position Control of a 3-CPU Spherical Parallel Manipulator

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: Massimo Callegari, Luca Carbonari, Giacomo Palmieri, Matteo-Claudio Palpacelli, Donatello Tina
Format: Article
Language:English
Published: Hindawi Limited 2013-01-01
Series:Journal of Control Science and Engineering
Online Access:http://dx.doi.org/10.1155/2013/136841
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spelling doaj-cb4b0461bc694f24b9a69c030c535d1c2020-11-24T22:11:39ZengHindawi LimitedJournal 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
collection DOAJ
language English
format Article
sources DOAJ
author Massimo Callegari
Luca Carbonari
Giacomo Palmieri
Matteo-Claudio Palpacelli
Donatello Tina
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
author_facet Massimo Callegari
Luca Carbonari
Giacomo Palmieri
Matteo-Claudio Palpacelli
Donatello Tina
author_sort Massimo Callegari
title Position Control of a 3-CPU Spherical Parallel Manipulator
title_short 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_sort position control of a 3-cpu spherical parallel manipulator
publisher Hindawi Limited
series Journal of Control Science and Engineering
issn 1687-5249
1687-5257
publishDate 2013-01-01
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.
url http://dx.doi.org/10.1155/2013/136841
work_keys_str_mv AT massimocallegari positioncontrolofa3cpusphericalparallelmanipulator
AT lucacarbonari positioncontrolofa3cpusphericalparallelmanipulator
AT giacomopalmieri positioncontrolofa3cpusphericalparallelmanipulator
AT matteoclaudiopalpacelli positioncontrolofa3cpusphericalparallelmanipulator
AT donatellotina positioncontrolofa3cpusphericalparallelmanipulator
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