@inproceedings{d80e8ceba6f847409c911c8551a42860,
title = "Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator",
abstract = "This paper presents impedance control through force estimation of a redundantly actuated Parallel Kinematic Manipulator. The impedance control is a model based control that sets a stiffness, damping and apparent inertia in the task space of the robot. The control is based on the feedback linearisation of the dynamics. The impedance control is achieved through an optimization promoting the even distribution of torques over actuators. Next, a force estimator is applied through an nonlinear disturbance observer. Finally, the estimated force is used in the impedance controller to set an apparent inertia of the moving platform of the robot. The approach shows a good response in low frequencies and good external force estimation required for impedance controlled tasks.",
keywords = "Redundantly actuated, Impedance control, Parallel kinematic manipulator, Nonlinear disturbance observer, Indirect force control",
author = "Mendez, {Juan de Dios Flores} and Henrik Schi{\o}ler and Ole Madsen and Shaoping Bai",
year = "2020",
month = jan,
day = "1",
doi = "10.1007/978-3-030-11292-9_9",
language = "English",
isbn = "978-3-030-11291-2",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer",
pages = "174--191",
editor = "Kurosh Madani and Oleg Gusikhin",
booktitle = "Informatics in Control, Automation and Robotics",
address = "Germany",
note = "International Conference on Informatics in Control, Automation and Robotics, ICINCO ; Conference date: 26-07-2017 Through 28-07-2017",
}