Journal ArticleDOI
Dynamics and control of redundantly actuated parallel manipulators
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TLDR
In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.Abstract:
It has been shown that redundant actuation provides an effective means for eliminating singularities of a parallel manipulator, thereby improving its performance such as Cartesian stiffness and homogeneous output forces. Based on this concept, several high-performance parallel manipulator prototypes have been designed. A major difficulty that prevents application of the vast control literature developed for the serial counterparts to redundantly actuated parallel manipulators is the lack of an efficient dynamical model for real-time control. In this paper, using the Lagrange-D'Alembert formulation, we propose a simple scheme for computing the inverse dynamics of a redundantly actuated parallel manipulator. Based on this approach, four basic control algorithms, a joint-space proportional derivative (PD) control, a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated. A two-degrees-of-freedom redundantly acutated parallel manipulator designed for a high-speed assembly task is used to verify the simplicity of the proposed approach and to evaulate the performance of the four control algorithms.read more
Citations
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ℒ 1 adaptive control of parallel kinematic manipulators: Design and real-time experiments
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Adaptive variable impedance control for a modular soft robot manipulator in configuration space
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A new terminal converging PD control for parallel robotic manipulators with bounded torque
TL;DR: In this article, a new terminal converging PD control for parallel robotic manipulators with bounded torque was developed for the purpose of achieving asymptotic stability with faster converging speed than conventional saturating PD control.
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Force-moment capabilities of planar-parallel manipulators using different redundant-actuation configurations
TL;DR: The preliminary results show that different, symmetric redundant-actuation schemes yield substantial variations in the force-moment capabilities for the three-branch, three-revolute joints per branch (3-RRR) manipulator.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Journal ArticleDOI
Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators
Yoshihiko Nakamura,M. Ghodoussi +1 more
TL;DR: A general and systematic computational scheme of the inverse dynamics of closed-link mechanisms derived by using d'Alembert's principle and obtained without computing the Lagrange Multipliers is discussed.
Proceedings ArticleDOI
A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications
S. Kock,Walter Schumacher +1 more
TL;DR: A novel control scheme that guarantees a lower bound of the end-effector stiffness (LBSC) is presented and is compared with a traditional control scheme for high-speed applications using the minimal 2-norm of actuator torques.
Journal ArticleDOI
An efficient method for inverse dynamics of manipulators based on the virtual work principle
Chang-De Zhang,Shin-Min Song +1 more
TL;DR: The present method uses a forward recursive scheme to compute velocities and accelerations, the Newton-Euler equation to calculate inertia forces/torque, and the virtual work principle to formulate the dynamic equations of motion.