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
Actuation schemes of a spatial 3-PPRR parallel mechanism
TL;DR: In this article, the authors present a systematic method to analyse actuation schemes for complex spatial mechanisms in engineering the number of excess constraints included in a mechanism is increasing and there are an increasing number of cases in which the required number of actuators needed to control an end-effector is larger than the degree of freedom possessed by the end effector.
Proceedings ArticleDOI
Power manipulability analysis of redundantly actuated parallel kinematic manipulators with different types of actuators
TL;DR: This research intends to analyze the kinetostatic performance of redundantly actuated PKM and to demonstrate their efficiency in contrast to non-redundant drive configurations.
Journal ArticleDOI
Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method:
TL;DR: A novel computer-aided geometric method that can automatically detect the independently drivable joints for arbitrary kinematic chains in the 3-RRRS mechanism and is beneficial as a convenient solving process is developed.
Proceedings ArticleDOI
Dynamic measurement of the positioning accuracy of redundantly actuated parallel machine tool
TL;DR: In this article, a 5-DOF 5-UPS/PRPU parallel machine tool (PMT) is introduced based on Agilent 5529A dual-frequency laser interferometer which is capable of performing dynamic calibration.
Proceedings ArticleDOI
A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator
G.A.V. Christiansson,E.C. Fritz +1 more
TL;DR: A novel planar 3-degree of freedom (DOF) haptic teleoperator based on the "hard-soft" principle is presented and can now be experimentally verified for more realistic tasks.
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.