Pid control of robot manipulators equipped with brushless dc motors

  • Authors:

  • V. m. Hernández-guzmán;V. Santibáñez;R. Campa

  • Affiliations:

  • Universidad autónoma de querétaro, facultad de ingeniería, apartado postal 3-24, c.p. 76150, querétaro, qro., méxico;Instituto tecnológico de la laguna, división de estudios de posgrado e investigación, apartado postal 49 adm. 1, c.p. 27001, torreón, coahuila, méxico.;Instituto tecnológico de la laguna, división de estudios de posgrado e investigación, apartado postal 49 adm. 1, c.p. 27001, torreón, coahuila, méxico.

  • Venue:
  • Robotica
  • Year:
  • 2009

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Abstract

A method of workspace modelling for spherical parallel manipulators (SPMs) of symmetrical architecture is developed by virtue of Euler parameters in the paper. The adoption of Euler parameters in the expression of spatial rotations of SPMs helps not ...