The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools.\r\nThe innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been\r\ntested and compared with the final aimof designing an interaction controller.The relative simplicity of machine kinematics allowed\r\nto test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational\r\nterms has been experimented as well.
Loading....