Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control
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Cites background from "Internal Preload Control of Redunda..."
...For redundantly actuated parallel manipulators, Fang et al. [13] minimized the sum of tendon forces and Muller [14] minimized a weighted sum of squares....
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Cites background from "Internal Preload Control of Redunda..."
...Further information on the control of redundantly actuated manipulators may be found in [27], for example, where a redundant Gough–Stewart platform is also studied....
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78 citations
References
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"Internal Preload Control of Redunda..." refers background in this paper
...1552-3098/$20.00 © 2005 IEEE According to the IFToMM terminology [7] a PM is a manipulator in which the end-effector (EE) is controlled by means of at least two kinematic chains going from the base to the EE....
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...The vector of the remaining joint variables of passive joints is denoted with , so that ....
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...The first approach yields an explicit formulation of the preload parameter as a function of time, while the second only yields its numerical values at specific time instants....
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2,573 citations
"Internal Preload Control of Redunda..." refers background in this paper
...…kinematic and dynamic constraints are EE-constraints Closure constraints (8) It shall be emphasized that the kinematic basic functions (Jacobians) , the constraint Jacobian and their partial derivatives of any order can be given explicitly and algebraically in terms of screw products [3], [19]....
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884 citations
"Internal Preload Control of Redunda..." refers background in this paper
...The vector of the remaining joint variables of passive joints is denoted with , so that ....
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