Internal preload control of redundantly actuated parallel manipulators - Backlash avoiding control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 948-953

  Muller A ^a  

^a CHEMNITZ UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

Backlash; Inverse dynamics; Model based control; Parallel manipulator; Redundant actuation

Indexed keywords

COMPUTATIONAL METHODS; FORCE CONTROL; MOTION CONTROL; PARAMETER ESTIMATION; REAL TIME SYSTEMS;

INVERSE DYNAMICS; MODEL BASED CONTROLS; PARALLEL MANIPULATORS; REDUNDANT ACTUATION;

MANIPULATORS;

EID: 33846165824     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570239     Document Type: Conference Paper

References (23)

1. H. Cheng, Y.-K. Yiu, Z. Li: Dynamics and Control of Redundantly Actuated Parallel Manipulators, IEEE/ASME Trans. on Mechatronics, Vol. 8, no. 4, 2003, pp. 483-491
2. P.E. Gill, W. Murray, M.H. Wright: Practical Optimization, Academic Press, London, 1981
3. G. M. Gosselin, J. Wang: Singularity Loci of Planar Parallel Manipulators with Revolute Actuators, Robotics and Autonomous Systems, Vol. 21, 1997, pp. 377-398
4. J. Jeong, D. Kang, Y.M. Cho, J. Kim: Kinematic Calibration for Redundantly Actuated Parallel Mechanisms, ASME Journal of Mechanical Design, Vol. 126, no. 2, 2004, pp. 307-318
5. S. Kock, W. Schumacher: A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications, in Proc. IEEE Int. Conf. Robotics Automation, Leuven, 1998, pp. 2295-2300.
6. S. Kock, W. Schumacher: Control of a Fast Parallel Robot with a Redundant Chain and Gearboxes: Experimental Results, IEEE Int. Conf. Robotics Automation, 2000. IEEE Int. Conf. on Robotics and Automation, San Francisco
7. S. Kock, W. Schumacher: A mixed elastic and rigid-body dynamic model of an actuation redundant parallel robot with high-reduction gears, IEEE Int. Conf. Robotics Automation, 2000. IEEE Int. Conf. on Robotics and Automation, San Francisco
8. R. Kurtz, V. Hayward: Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy, IEEE Trans. on Robotics Automation, Vol. 8. no. 5, 1992, pp. 644-651
9. J.H. Lee, B.J. Li: H. Suh: Optimal design of a five-bar finger with redundant actuation, Proc. IEEE Int. Conf. Robotics Automation, Leuven, 1998, pp. 2068-2074
10. P. Maisser: Differential geometric methods in multibody dynamics, Proc. 2nd World Congress of Nonlinear Analysts, 1997, pp. 5127-5133
11. A. Müller, P. Maisser: Lie group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics, Multibody System Dynamics, Kluwer, Vol. 9, 2003, pp. 311-352
12. A. Müller: Energy optimal control of serial manipulators avoiding collisions, Proc. IEEE Int. Conf. Mechatronics, Istanbul, 2004
13. R.M. Murray, Z. Li, S.S. Sastry: A mathematical Introduction to robotic Manipulation, CRC Press, 1993
14. M.A. Nahon, J. Angeles: Force optimization in redundantly-actuated closed kinematic chains, Proc. IEEE Int. Conf. Robotics Automation, Scottsdale, 1989, pp. 951-956
15. H. Nijmeijer, A.J. van der Schaft, Nonlinear dynamical control systems, Springer, 1990
16. J.F. O'Brien, J.T. Wen: Redundant actuation for improving kinematic manipulability, Proc. IEEE Int. Conf. Robotics Automation, 1999, pp. 1520-1525
17. M.J.D. Powell: A Fast Algorithm for Nonlineary Constrained Optimization Calculations, Numerical Analysis, in G.A. Watson (ed.): Lecture Notes in Mathematics, Vol. 630, Springer, 1978
18. M. Reyhanoglu, A. van der Schaft, N.H. McClamroch, I. Kolmanovsky: Dynamics and control of a class of underactuated systems, IEEE Trans. Automation and Control, Vol. 44, no. 9, 1999, pp. 1663-1671
19. T. Ropponen, Y. Nakamura: Singularity-free parameterization and performace analysis of actuation redundancy, Proc. IEEE Int. Conf. Robotics Automation, Cincinatti, 1990, pp. 806-811
20. M. Valasek, V. Bauma, Z. Sika, T. Vampola: Redundantly actuated parallel structures - principle, examples, advantages, 3rd Parallel Kinematics Seminar Chemnitz, Chemnitz, 2002, pp. 993-1009
21. M. Valasek, K. Belda, M. Florian: Control and calibration of redundantly actuated parallel robots, 3rd Parallel Kinematics Seminar Chemnitz, Chemnitz, 2002, pp. 411-427
22. B.Y. Yi, R.A. Freeman, D. Tesar: Open-loop stiffness control of overconstrained mechanisms/robot linkage systems, Proc. IEEE Int. Conf. Robotics Automation, Scottsdale, 1989, pp. 91340-1345
23. B.Y. Yi, R.A. Freeman, D. Tesar: force and stiffness transmision in redundantly actuated mechanisms: the case for a spherical shoulder mechanism, Robotics, Spatial Mechanisms and Mechanical Systems, Vol. 45, 1994, pp. 163-172