This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm that adopts the screw theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach.

Gravity Compensation Algorithms for Parallel Haptic Interface

SOTGIU, Edoardo;FRISOLI, Antonio;AVIZZANO, Carlo Alberto;BERGAMASCO, Massimo
2002-01-01

Abstract

This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm that adopts the screw theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach.
2002
0780375459
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11382/301292
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