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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Book ChapterDOI
Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy
TL;DR: The existence of redundant actuators allows for control forces that have no effect on thePKM motion but rather lead to mechanical prestress within the PKM, and can be exploited for different second-level control tasks such as backlash avoidance and stiffness control.
Journal ArticleDOI
Force analysis of the redundantly actuated parallel mechanism 2RP̲R+P considering different control methodologies
TL;DR: Different control methodologies of the redundantly actuated PMs are considered for the first time, the principle of the dynamic coordination distribution is revealed in different methodologies, which have important reference values for design of coordinated motion control strategy of such kind of mechanisms.
Proceedings ArticleDOI
Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation
TL;DR: An experimental evaluation of the Cartesian stiffness of a novel parallel wrist under redundant and antagonistic actuation of Omni-Wrist V, a two degrees-of-freedom parallel mechanism redundantly actuated by three subchains.
Journal ArticleDOI
Workspace optimization of a class of zero-torsion parallel wrists
Yuanqing Wu,Marco Carricato +1 more
TL;DR: A unified singularity-free workspace optimization of a class of two-degree-of-freedom (2-DoF) parallel wrists with large rotation range capability is presented by utilizing geometric properties of zero-torsion motion manifolds.
Journal ArticleDOI
New mechanism for press-fit processes: preliminary analysis
TL;DR: This is the first research work that comprehensively describes and analyzes the considered kinematics, within a real industrial application context, which could improve the precision of the positioning movements and the stiffness of the structural elements.
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.