Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots | Zendy

Luca Bruzzone | Zendy; Massimo Callegari | Zendy

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Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots

Author(s) -

Luca Bruzzone,

Massimo Callegari

Publication year - 2010

Publication title -

advances in mechanical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.318

H-Index - 40

eISSN - 1687-8140

pISSN - 1687-8132

DOI - 10.1155/2010/284976

Subject(s) - rotation matrix , impedance control , degrees of freedom (physics and chemistry) , rotation around a fixed axis , rotation (mathematics) , control theory (sociology) , angular velocity , serial manipulator , computer science , orientation (vector space) , parallel manipulator , robot , electrical impedance , engineering , mathematics , artificial intelligence , classical mechanics , control (management) , physics , geometry , quantum mechanics , electrical engineering

Force control of parallel robots with rotational degrees of freedom through impedance algorithms is considerably influenced by the representation method of the end-effector orientation. Using the natural invariants of the rotation matrix and the angular velocity vector in the impedance control law has some theoretical advantages, which derive from the Euclidean-geometric meaning of these entities. These benefits are particularly evident in case of robotic architectures with three rotational degrees of freedom (serial or parallel wrists with spherical motion). The behaviour of a 3-CPU parallel robot controlled by an impedance algorithm based on this concepts is assessed through multibody simulations, and the results confirm the effectiveness of the proposed approach

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