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Journal of Control Science and Engineering
Volume 2013, Article ID 136841, 12 pages
Research Article

Position Control of a 3-CPU Spherical Parallel Manipulator

1Department of Industrial Engineering & Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy
2e-Campus University, Faculty of Engineering, 22060 Novedrate, Italy

Received 7 September 2012; Accepted 18 December 2012

Academic Editor: Sabri Cetinkunt

Copyright © 2013 Massimo Callegari et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aim of designing an interaction controller. The relative simplicity of machine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well.