Controllo in Anello Aperto da Analisi Multicorpo di Uso Generale per un Concetto Originale di Robot Parallelo - Feedforward Control Design from General-Purpose Multibody Analysis for an Original Parallel Robot Concept

This work analyzes an original parallel robot that consists of a set of non-coaxial discs rotating about parallel axes. The robot is specifically designed to make a tool like a plasma torch perform trajectories with sharp turns at controlled velocity. A typical task consists in cutting rectangular holes in plates using a plasma torch. An underdetermined inverse kinematics problem determines the motion of the motors that yields the desired motion of the end effector; it is solved by performing a pseudo-dynamic analysis with a general purpose multibody solver. Two different solution procedures are proposed; the corresponding results are compared and discussed. The locally optimal solution resulting from both approaches minimizes linear combinations of quadratic forms related to the weighted kinetic coenergy of the robot components.