oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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 (English)In: Materials Today: Proceedings, E-ISSN 2214-7853, Vol. 12, no 2, p. 423-430Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Amsterdam, Netherlands: Elsevier, 2019. Vol. 12, no 2, p. 423-430
Keywords [en]
Spherical parallel manipulator, Sensor orientation, Sensor alignment, Sensor aiming
National Category
Applied Mechanics
Research subject
Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-76005DOI: 10.1016/j.matpr.2019.03.145ISI: 000468465100035OAI: oai:DiVA.org:oru-76005DiVA, id: diva2:1347709
Conference
35th Danubia Adria Symposium on Advances in Experimental Mechanics (DAS), Sinaia, Romania, September 25-28, 2018
Note

Funding Agency:

German Federal Ministry for Economic Affairs and Energy (BMWi)

Available from: 2019-09-02 Created: 2019-09-02 Last updated: 2019-09-10Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Hüllmann, Dino

Search in DiVA

By author/editor
Hüllmann, Dino
In the same journal
Materials Today: Proceedings
Applied Mechanics

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 4 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf