Journal ArticleDOI
Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control
TLDR
With this formulation a computational efficient open-loop preload control is developed and applied to the elimination of backlash and its simplicity makes it applicable in real-time applications.Abstract:
Redundant actuation of parallel manipulators can lead to internal forces without generating end-effector forces (preload). Preload can be controlled in order to prevent backlash during the manipulator motion. Such control is based on the inverse dynamics. The general solution of the inverse dynamics of redundantly actuated parallel manipulators is given. For the special case of simple overactuation an explicit solution is derived in terms of a single preload parameter. With this formulation a computational efficient open-loop preload control is developed and applied to the elimination of backlash. Its simplicity makes it applicable in real-time applications. Results are given for a planar 4RRR manipulator and a spatial heptapod.read more
Citations
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Journal ArticleDOI
Motion/Force constraint indices of redundantly actuated parallel manipulators with over constraints
TL;DR: A method is proposed to extract a multiple-degree-of-freedom ROPM into several one-DOF mechanisms by “losing” some wrenches in an ergodic manner, and several motion/force constraint indices are proposed for the performance analysis and optimization of ROPMs.
Journal ArticleDOI
Kinematic effects of number of legs in 6-DOF UPS parallel mechanisms
Mohammad H. Abedinnasab,Farzam Farahmand,Bahram Tarvirdizadeh,Hassan Zohoor,Jaime Gallardo-Alvarado +4 more
TL;DR: In this paper, the kinematic effects of number of legs in 6-DOF UPS parallel manipulators were studied in terms of the performance indices, workspace, singular configurations, and forward Kinematic solutions.
Journal ArticleDOI
Dynamics of parallel manipulators with hybrid complex limbs — Modular modeling and parallel computing
TL;DR: In this paper , a modular approach to the kinematics and dynamics modeling of parallel manipulators with complex limbs is presented, which can be found in almost all parallel kinematic machines.
Journal ArticleDOI
Singularity robust balancing of parallel manipulators following inconsistent trajectories
TL;DR: A method of singularity robust balancing is proposed for parallel manipulators passing through type II singular configurations while following inconsistent trajectories, which means an originally unrealizable inconsistent trajectory can be followed without any deviation, while the required actuator forces remain bounded after the manipulator is balanced according to the design methodology presented in this study.
Journal ArticleDOI
A New Method to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators
TL;DR: In this article, a method for obtaining the force and moment workspaces of spatial parallel manipulators (PMs) is presented, which explicitly sets the largest possible number of actuators to their maximum limits ensuring that the manipulator is performing at its best possible wrench capabilities.
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.
Book
Nonlinear Dynamical Control Systems
TL;DR: The controlled Invariant Submanifolds and Nonlinear Zero Dynamics and the Disturbance Decoupling problem are studied.
Journal ArticleDOI
A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
Clément Gosselin,Jorge Angeles +1 more
TL;DR: In this article, a performance index for the kinematic optimization of robotic manipulators is presented based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the joint and Cartesian spaces.
Journal ArticleDOI
Dynamics and control of a class of underactuated mechanical systems
TL;DR: A theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom, is presented and controlability and stabilizability results are derived.
Journal ArticleDOI
An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization. Part 1: theoretical aspects
TL;DR: A tailored simultaneous solution strategy based on multiple shooting and reduced SQP is presented, which allows an efficient and robust solution of multistage optimal control and design optimization problems for large, sparse DAE process models of index one.