Impedance Control of a Redundant Parallel Manipulator

Publication: Research - peer-reviewArticle in proceeding

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.
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Details

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.
Original languageEnglish
Title of host publicationProceedings of the 14th International Conference on Informatics in Control, Automation and Robotics : Volume 1: ICINCO
PublisherSCITEPRESS Digital Library
Publication date26 Jul 2017
Pages104-111
ISBN (electronic)978-989-758-263-9
DOI
StatePublished - 26 Jul 2017

    Keywords

  • parallel kinematic manipulators, impedance control, control optimization
ID: 262108538