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Control of a spherical parallel manipulator
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany. (AASS MRO Lab)
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
2019 (engelsk)Inngår i: Materials Today: Proceedings, E-ISSN 2214-7853, Vol. 12, nr 2, s. 423-430Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

In mobile robot applications, some sensors such as open-path gas detectors or laser rangefinders need to be aimed at specific targets in order to get the desired measurements. To do this in a fast and elegant manner, we present a spherical parallel manipulator with three degrees of freedom. Compared to typical serial manipulators, it offers superior dynamics and structural stiffness, which are important parameters for this type of task. We present the mechanical design and derive kinematic equations both to compute set-points for the desired orientation and to estimate the current state of the system. A PID controller is used to generate control signals.

sted, utgiver, år, opplag, sider
Amsterdam, Netherlands: Elsevier, 2019. Vol. 12, nr 2, s. 423-430
Emneord [en]
Spherical parallel manipulator, Sensor orientation, Sensor alignment, Sensor aiming
HSV kategori
Forskningsprogram
Maskinteknik
Identifikatorer
URN: urn:nbn:se:oru:diva-76005DOI: 10.1016/j.matpr.2019.03.145ISI: 000468465100035OAI: oai:DiVA.org:oru-76005DiVA, id: diva2:1347709
Konferanse
35th Danubia Adria Symposium on Advances in Experimental Mechanics (DAS), Sinaia, Romania, September 25-28, 2018
Merknad

Funding Agency:

German Federal Ministry for Economic Affairs and Energy (BMWi)

Tilgjengelig fra: 2019-09-02 Laget: 2019-09-02 Sist oppdatert: 2019-11-15bibliografisk kontrollert

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