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
More filters
Proceedings ArticleDOI
Towards 100G with PKM. Is actuation redundancy a good solution for pick-and-place?
TL;DR: The results show that actuation redundancy allows to homogenize the dynamic capabilities throughout the workspace and to increase the traveling plate acceleration capability.
Journal ArticleDOI
Consequences of Geometric Imperfections for the Control of Redundantly Actuated Parallel Manipulators
TL;DR: It is shown that geometric uncertainties lead to parasitic perturbation forces that cannot be compensated by adjustment of the controls and an amended version of the augmented PD and computed torque-control scheme is proposed that does not suffer from such effects.
Journal ArticleDOI
Antagonistic Stiffness Optimization of Redundantly Actuated Parallel Manipulators in a Predefined Workspace
TL;DR: In this paper, an optimization procedure regarding shape of usable workspace and antagonistic stiffness is developed for a redundantly actuated parallel manipulator, where the kinematic parameters such as configuration of the mechanism and length of linkages are optimized to maximize and equal out antagonistic stiff of the manipulator.
Journal ArticleDOI
Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories
TL;DR: In this article, a singularity avoidance algorithm for the 3-R RR mechanism using kinematic redundancy is proposed, which allows for determining the required ranges of the kinematically redundant active prismatic joint variables of a mechanism to allow given trajectories to be singularity-free.
References
More filters
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.