Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

This article describes an efficient and effective strategy for limiting the workspace of a six degrees of freedom parallel manipulator, with challenging motion smoothness requirements due to both the high inertia objects carried by the end effector and the pose references coming from a force feedbac...

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Bibliographic Details
Main Authors: Francesco La Mura, Piergiorgio Romanó, Enrico Fiore, Hermes Giberti
Format: Article
Language:English
Published: MDPI AG 2018-02-01
Series:Robotics
Subjects:
workspace boundaries
parallel kinematic manipulator
hardware in the loop
Online Access:http://www.mdpi.com/2218-6581/7/1/10

Internet

http://www.mdpi.com/2218-6581/7/1/10

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