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.
Original language | English |
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Title of host publication | Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics : Volume 1: ICINCO |
Publisher | SCITEPRESS Digital Library |
Publication date | 26 Jul 2017 |
Pages | 104-111 |
ISBN (Electronic) | 978-989-758-263-9 |
DOIs | |
Publication status | Published - 26 Jul 2017 |
Event | The 14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spain Duration: 26 Jul 2017 → 28 Jul 2017 http://www.icinco.org/ |
Conference
Conference | The 14th International Conference on Informatics in Control, Automation and Robotics |
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Country/Territory | Spain |
City | Madrid |
Period | 26/07/2017 → 28/07/2017 |
Internet address |
Series | Proceedings of the International Conference on Informatics in Control, Automation and Robotics |
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Keywords
- parallel kinematic manipulators
- impedance control
- control optimization