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 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.File in questo prodotto:
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