Impedance Control of a Redundant Parallel Manipulator

Research output: 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
Publication categoryResearch
Peer-reviewedYes
EventThe 14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spain
Duration: 26 Jul 201728 Jul 2017
http://www.icinco.org/

Conference

ConferenceThe 14th International Conference on Informatics in Control, Automation and Robotics
LandSpain
ByMadrid
Periode26/07/201728/07/2017
Internetadresse
SeriesProceedings of the International Conference on Informatics in Control, Automation and Robotics

    Research areas

  • parallel kinematic manipulators, impedance control, control optimization

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ID: 262108538