Modelling and Control of Spherical Robotic Device

Luca Carbonari, Giacomo Palmieri, Matteo-Claudio Palpacelli, and Donatello Tina


Robot control, Control system analysis, Mechanisms, Robot dynamics, Model-based control, PID control


The researchers at the Polytechnic University of Marche developed a spherical parallel manipulator designed for the orientation of parts or tools: the paper presents the first experimental results on such innovative machine. A model of the prototype robot has been realised by means of commercial multibody software then both open-loop and closed loop dynamics has been studied. The relative simplicity of machine kinematics allowed also to experiment the use of controllers with compensation of gravitational terms.

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