Gravity compensation algorithms for parallel haptic interface

• Post by: System
• 27 November 2019
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This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a SDOF 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’s theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach. © 2002 IEEE.