The direct position analysis (DPA) of parallel manipulators (PMs) brings to determine a finite number of platform poses compatible with an assigned set of actuated-joint variables’ values. Therefore, when, during functioning, the need to check the actual platform pose arises, the sensors usually located on the actuators are not sufficient and the additional pieces of information coming from ad-hoc-devised extra sensors are necessary. Here, the actual implementation of extra sensors in a nonholonomic parallel wrist (PW) is presented.
Extra-Sensor Implementation in a Nonholonomic Parallel Wrist
DI GREGORIO, Raffaele;
2014
Abstract
The direct position analysis (DPA) of parallel manipulators (PMs) brings to determine a finite number of platform poses compatible with an assigned set of actuated-joint variables’ values. Therefore, when, during functioning, the need to check the actual platform pose arises, the sensors usually located on the actuators are not sufficient and the additional pieces of information coming from ad-hoc-devised extra sensors are necessary. Here, the actual implementation of extra sensors in a nonholonomic parallel wrist (PW) is presented.File in questo prodotto:
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