Real-time algorithm, based on two extra sensors, for monitoring platform's orientation of underactuated parallel wrists

DOI10.1007/S11012-014-0090-ZMaRDI QIDQ531124zbMATH OpenOpenAlexFDO

Authors Raffaele Di Gregorio, Massimo Callegari, Massimiliano Battistelli

Publication date 3 August 2016

Published in Meccanica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11012-014-0090-z

zbMATH Keywords

direct position analysisextra sensorsparallel wristsunderactuated manipulators

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Automated systems (robots, etc.) in control theory (93C85)

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• Real‐time actual pose determination of the general fully parallel spherical wrist, using only one extra sensor

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