Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots

被引：5

作者：

Bruzzone, L. ^{[1
]}

Callegari, M. ^{[2
]}

机构：

[1] Univ Genoa, Dipartimento Meccan & Costruz Macchine, I-16145 Genoa, Italy

[2] Univ Politecn Marche, Dipartimento Meccan, I-60131 Ancona, Italy

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2010年

关键词：

MANIPULATION;

D O I：

10.1155/2010/284976

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

Force control of parallel robots with rotational degrees of freedom through impedance algorithms is considerably influenced by the representation method of the end-effector orientation. Using the natural invariants of the rotation matrix and the angular velocity vector in the impedance control law has some theoretical advantages, which derive from the Euclidean-geometric meaning of these entities. These benefits are particularly evident in case of robotic architectures with three rotational degrees of freedom (serial or parallel wrists with spherical motion). The behaviour of a 3-CPU parallel robot controlled by an impedance algorithm based on this concepts is assessed through multibody simulations, and the results confirm the effectiveness of the proposed approach.

引用

页数：9

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