Impedance Control of a Redundant Parallel Manipulator

Juan de Dios Flores Méndez; Henrik Schiøler; Ole Madsen; Shaoping Bai

doi:10.5220/0006433301040111

Impedance Control of a Redundant Parallel Manipulator

Juan de Dios Flores Méndez, Henrik Schiøler, Ole Madsen, Shaoping Bai

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

4 Citationer (Scopus)

Abstract

This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. Control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

Originalsprog	Engelsk
Titel	Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics : Volume 1: ICINCO
Forlag	SCITEPRESS Digital Library
Publikationsdato	26 jul. 2017
Sider	104-111
ISBN (Elektronisk)	978-989-758-263-9
DOI	https://doi.org/10.5220/0006433301040111
Status	Udgivet - 26 jul. 2017
Begivenhed	The 14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spanien Varighed: 26 jul. 2017 → 28 jul. 2017 http://www.icinco.org/

Konference

Konference	The 14th International Conference on Informatics in Control, Automation and Robotics
Land/Område	Spanien
By	Madrid
Periode	26/07/2017 → 28/07/2017
Internetadresse	http://www.icinco.org/

Navn	Proceedings of the International Conference on Informatics in Control, Automation and Robotics

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10.5220/0006433301040111

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Citationsformater

Méndez, Juan de Dios Flores ; Schiøler, Henrik ; Madsen, Ole et al. / Impedance Control of a Redundant Parallel Manipulator. Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO. SCITEPRESS Digital Library, 2017. s. 104-111 (Proceedings of the International Conference on Informatics in Control, Automation and Robotics).

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title = "Impedance Control of a Redundant Parallel Manipulator",

abstract = "This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. Control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.",

keywords = "parallel kinematic manipulators, impedance control, control optimization",

author = "M{\'e}ndez, {Juan de Dios Flores} and Henrik Schi{\o}ler and Ole Madsen and Shaoping Bai",

year = "2017",

month = jul,

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doi = "10.5220/0006433301040111",

language = "English",

series = "Proceedings of the International Conference on Informatics in Control, Automation and Robotics",

publisher = "SCITEPRESS Digital Library",

pages = "104--111",

booktitle = "Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics",

note = "The 14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017 ; Conference date: 26-07-2017 Through 28-07-2017",

url = "http://www.icinco.org/",

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Méndez, JDDF, Schiøler, H , Madsen, O & Bai, S 2017, Impedance Control of a Redundant Parallel Manipulator. i Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO. SCITEPRESS Digital Library, Proceedings of the International Conference on Informatics in Control, Automation and Robotics, s. 104-111, The 14th International Conference on Informatics in Control, Automation and Robotics, Madrid, Spanien, 26/07/2017. https://doi.org/10.5220/0006433301040111

Impedance Control of a Redundant Parallel Manipulator. / Méndez, Juan de Dios Flores; Schiøler, Henrik ; Madsen, Ole et al.
Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO. SCITEPRESS Digital Library, 2017. s. 104-111 (Proceedings of the International Conference on Informatics in Control, Automation and Robotics).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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Y1 - 2017/7/26

N2 - This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. Control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

AB - This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. Control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

KW - parallel kinematic manipulators

KW - impedance control

KW - control optimization

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DO - 10.5220/0006433301040111

M3 - Article in proceeding

T3 - Proceedings of the International Conference on Informatics in Control, Automation and Robotics

SP - 104

EP - 111

BT - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics

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ER -

Méndez JDDF, Schiøler H , Madsen O , Bai S. Impedance Control of a Redundant Parallel Manipulator. I Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO. SCITEPRESS Digital Library. 2017. s. 104-111. (Proceedings of the International Conference on Informatics in Control, Automation and Robotics). doi: 10.5220/0006433301040111

Impedance Control of a Redundant Parallel Manipulator

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