The tricept robot: Dynamics and impedance control

被引：98

作者：

Caccavale, F ^{[1
]}

Siciliano, B

Villani, L

机构：

[1] Univ Basilicata, Dipartimento Ingn Fis Ambiente, I-85100 Potenza, Italy

[2] Univ Salerno, Dipartimento Ingn Informaz & Ingn Elettr, I-84084 Fisciano, Italy

[3] Univ Naples Federico II, Dipartimento Informat & Sistemist, I-80125 Naples, Italy

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2003年 / 8卷 / 02期

关键词：

dynamics; impedance control; parallel robots;

D O I：

10.1109/TMECH.2003.812839

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Tricept is a novel industrial robot characterized by a hybrid kinematic design featuring a three-degrees-of-freedom (3-DOF) structure of parallel type and a 3-DOF spherical wrist. In this work the authors focus on the derivation of a dynamic model to be used for both simulation and control purposes. Two different approaches are discussed and compared in terms of inverse dynamics computation. Then, a model-based control is derived aimed at enforcing a 6-DOF impedance behavior at the end effector to manage interaction with the environment. Simulation results are presented to evaluate the accuracy of an approximate dynamic model computation as well as to test the effectiveness of the proposed impedance control strategy.

引用

页码：263 / 268

页数：6

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