Abstract
This paper deals with the kinematical and dynamical properties of parallel spherical manipulators with three degrees of freedom. Accelerations, dynamics, control and accuracy are considered. Algorithm of control is based on the inverse problem of dynamics and allows minimizing deviations of coordinates, velocities and accelerations.
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Acknowledgements
This work is supported by Russian Foundation for Basic Research (RFBR) grant No.13-08-1205613.
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Kheylo, S., Glazunov, V. (2014). Kinematics, Dynamics, Control and Accuracy of Spherical Parallel Robot. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_15
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DOI: https://doi.org/10.1007/978-3-319-07058-2_15
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