Application of the Rotation Matrix Natural Invariants to Impedance Control of Rotational Parallel Robots
نویسندگان
چکیده
منابع مشابه
Application of the Rotation Matrix Natural Invariants to Impedance Control of Purely Rotational Parallel Robots
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 entiti...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2010
ISSN: 1687-8140,1687-8140
DOI: 10.1155/2010/284976