Position Control of a 3-CPU Spherical Parallel Manipulator

<div class="floats-full-page floats-full-page-figure"><h2>Figure 12</h2><div class="floats-full-page-caption"><table>Joint-space PID with gravity compensation: platform’s trajectory in task-space (a) and joint space errors (b).</table></div><div class="floats-full-page-content"><table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="136841.fig.0012a" src="https://static-01.hindawi.com/articles/jcse/volume-2013/136841/figures/136841.fig.0012a.jpg" /></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="136841.fig.0012b" src="https://static-01.hindawi.com/articles/jcse/volume-2013/136841/figures/136841.fig.0012b.jpg" /></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b></td></tr></table></td></tr></table></div></div>

Figure 12 | Position Control of a 3-CPU Spherical Parallel Manipulator

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Figure 12: Position Control of a 3-CPU Spherical Parallel Manipulator

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Figure 12

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