Resumé

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.
OriginalsprogEngelsk
TitelProceedings of the 14th International Conference on Informatics in Control, Automation and Robotics : Volume 1: ICINCO
ForlagSCITEPRESS Digital Library
Publikationsdato26 jul. 2017
Sider104-111
ISBN (Elektronisk)978-989-758-263-9
DOI
StatusUdgivet - 26 jul. 2017
BegivenhedThe 14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spanien
Varighed: 26 jul. 201728 jul. 2017
http://www.icinco.org/

Konference

KonferenceThe 14th International Conference on Informatics in Control, Automation and Robotics
LandSpanien
ByMadrid
Periode26/07/201728/07/2017
Internetadresse
NavnProceedings of the International Conference on Informatics in Control, Automation and Robotics

Fingerprint

Manipulators
Torque
Kinematics
Actuators
Damping
Stiffness
Robots
Controllers
Compliance

Emneord

    Citer dette

    Méndez, J. D. D. F., 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 (s. 104-111). SCITEPRESS Digital Library. Proceedings of the International Conference on Informatics in Control, Automation and Robotics https://doi.org/10.5220/0006433301040111
    Méndez, Juan de Dios Flores ; Schiøler, Henrik ; Madsen, Ole ; Bai, Shaoping. / 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",
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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, 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; Bai, Shaoping.

    Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO. SCITEPRESS Digital Library, 2017. s. 104-111.

    Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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    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). https://doi.org/10.5220/0006433301040111