Advantages and dynamics of parallel manipulators with redundant actuation

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2001, Pages 171-176

  Cheng, H ^a   Liu, G F ^a   Yiu, Y K ^a   Xiong, Z H ^a   Li, Z X ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; COMPUTATIONAL COMPLEXITY; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; LAGRANGE MULTIPLIERS; MATHEMATICAL MODELS; REDUNDANCY; ROBOTICS; THREE TERM CONTROL SYSTEMS; TRACKING (POSITION); UNIVERSAL JOINTS;

CLOSED CHAIN MECHANISM; DYNAMIC EQUATION; GENERALIZED ACTUATING FORCES; INERTIAL MATRIX; PARALLEL MANIPULATORS; REDUNDANT ACTUATION;

REDUNDANT MANIPULATORS;

EID: 0035560059     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. Optimal design of a five-bar finger with redundant actuation
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3. A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications
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5. Force optimization in redundantly-actuated closed kinematic chains
6. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators
7. Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control
8. Robust design of independent joint controllers with experimentation on a high-speed parallel robot
9. Modeling and pd control of closed-chain mechanical systems
10. Singularity analysis of closed-loop kinematic chains
11. Singularity analysis and representation of planar parallel manipulators
12. Manipulability and singularity analysis of multiple robot systems: A geometric approach
13. Analysis and control of redundant parallel mechanisms and their applications