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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Proceedings ArticleDOI
A study on efficient motion design for redundantly actuated parallel kinematic manipulators
Michael Lorenz,Jascha Norman Paris,Tobias Haschke,Frederic Scholer,Mathias Hüsing,Burkhard Corves +5 more
TL;DR: An efficient trajectory planning algorithm is proposed, estimating the energy demand of object manipulation tasks in consideration of dynamic motion parameters as well as redundant actuator configurations, and establishing high potentials for an increased efficiency of industrial robots.
Journal ArticleDOI
DeLiA: A new redundant partially decoupled robot
TL;DR: This paper addresses the description and kinematic analysis of a new redundant robot named DeLiA, which is to have a topology consisting of three distinct parallel manipulators possessing six actuators to realize 5 d.o.f.
Proceedings ArticleDOI
The Research on the Redundant Actuated Parallel Robot with Full Compliant
Guangping He,Zhen Lu +1 more
TL;DR: In this paper, the redundant actuated parallel robot with full compliant is introduced to overcome some shortcomings of the full compliant mechanism, such as small working space, nonlinear in large range motion, complicated in kinematical and mechanics etc.
Journal ArticleDOI
Optimal design of loading device based on a redundantly actuated parallel manipulator
TL;DR: In this paper , a loading device based on the redundantly actuated parallel manipulator (R5LD) with strong loading capability is proposed for the reliability study of CNC machine tools.
Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its
TL;DR: In this article, an orthogonal 6-degree-of-freedom (DOF) parallel robot with redun-dant actuation is studied as an earthquake motion simulator, taking the general characteristics of natural earthquakes into consideration, the complexity and variety of seismic waves, three-dimensional and multi-DOF move- ment, and strong devastating force are regarded as the three obvious features in this article.
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.