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Control of a spheri...
Control of a spherical parallel manipulator
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- Hüllmann, Dino, 1988- (författare)
- Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany,AASS MRO Lab
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- Kohlhoff, Harald (författare)
- Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany
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- Erdmann, Jessica (författare)
- Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany
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- Neumann, Patrick P. (författare)
- Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany
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(creator_code:org_t)
- Amsterdam, Netherlands : Elsevier, 2019
- 2019
- Engelska.
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Ingår i: Materials Today. - Amsterdam, Netherlands : Elsevier. - 2214-7853. ; 12:2, s. 423-430
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Teknisk mekanik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Applied Mechanics (hsv//eng)
Nyckelord
- Spherical parallel manipulator
- Sensor orientation
- Sensor alignment
- Sensor aiming
- Mechanical Engineering
- Maskinteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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