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
A new family of constrained redundant parallel manipulators
TL;DR: In this article, the authors describe a new family of redundant parallel manipulators with a compact topology consisting of multi-degree of freedom non-identical limbs, which is in agreement with the parallel manipulator definition of IFToMM.
Journal ArticleDOI
Research of driving force coordination mechanism in parallel manipulator with actuation redundancy and its performance evaluation
TL;DR: In this paper, a dynamic model for general redundantly actuated parallel manipulator is established and, with that, driving force coordination mechanism is analyzed, and two new performance indexes, coordination ratio and coordination factor, are put forward to evaluate the parallel manipulators.
Journal ArticleDOI
Vibration Control of a Flexible Spacecraft System With Input Backlash
TL;DR: This paper deals with the vibration control problem of a flexible spacecraft system with unknown external disturbance and uncertain input backlash nonlinearity, and designs two boundary control inputs at the center body of the spacecraft.
Book ChapterDOI
Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms
TL;DR: It is believed that Gough and Whitehall (1962) first introduced parallel robots with an application in tire-testing equipments, followed by Stewart (1965) , who designed a parallel mechanism to be used in a flight simulator.
Journal ArticleDOI
Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces
TL;DR: In this paper, a unified approach to control a rather general class of robotic systems with closed loops under a set of linear equality and inequality constraints using the notion of projection operator is presented.
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.