Gravity compensation algorithms for parallel haptic interface
Proceedings. 11th IEEE International Workshop on Robot and Human …, 2002•ieeexplore.ieee.org
This paper presents an experimental comparison of different algorithms for the gravity
compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that
has been realized at PERCRO. Two methods for the static balancing of this mechanism
have been investigated: a classical method, based on Lagrange's approach and an
algorithm that adopts the screw theory. This last method allows solving the problem in a
more intuitive way. Some experimental results are reported in order to confirm this approach.
compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that
has been realized at PERCRO. Two methods for the static balancing of this mechanism
have been investigated: a classical method, based on Lagrange's approach and an
algorithm that adopts the screw theory. This last method allows solving the problem in a
more intuitive way. Some experimental results are reported in order to confirm this approach.
This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm that adopts the screw theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach.
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