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 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
DOIs
Publication statusPublished - 26 Jul 2017
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
CountrySpain
CityMadrid
Period26/07/201728/07/2017
Internet address
SeriesProceedings of the International Conference on Informatics in Control, Automation and Robotics

Fingerprint

Manipulators
Torque
Kinematics
Actuators
Damping
Stiffness
Robots
Controllers
Compliance

Keywords

  • parallel kinematic manipulators
  • impedance control
  • control optimization

Cite this

Méndez, J. D. D. F., Schiøler, H., Madsen, O., & Bai, S. (2017). Impedance Control of a Redundant Parallel Manipulator. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO (pp. 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. pp. 104-111 (Proceedings of the International Conference on Informatics in Control, Automation and Robotics).
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Méndez, JDDF, Schiøler, H, Madsen, O & Bai, S 2017, Impedance Control of a Redundant Parallel Manipulator. in 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, pp. 104-111, The 14th International Conference on Informatics in Control, Automation and Robotics, Madrid, Spain, 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. p. 104-111 (Proceedings of the International Conference on Informatics in Control, Automation and Robotics).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Méndez JDDF, Schiøler H, Madsen O, Bai S. Impedance Control of a Redundant Parallel Manipulator. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics: Volume 1: ICINCO. SCITEPRESS Digital Library. 2017. p. 104-111. (Proceedings of the International Conference on Informatics in Control, Automation and Robotics). https://doi.org/10.5220/0006433301040111