Model-based control of redundantly actuated parallel manipulators in redundant coordinates

Robotics and Autonomous Systems

Volumn 60, Issue 4, 2012, Pages 563-571

  Mller, A ^a   Hufnagel, T ^b  

^a UNIVERSITY OF DUISBURG ESSEN   (Germany)

^b HEILBRONN UNIVERSITY   (Germany)

Author keywords

Model based control; Motion equations; Parallel manipulators; Redundant actuation; Redundant coordinates

Indexed keywords

ACTUATION REDUNDANCY; COMPUTATIONALLY EFFICIENT; COMPUTED TORQUE; CONFIGURATION SPACE; END-EFFECTOR COORDINATES; EXPLICIT FORMULATION; INVERSE DYNAMICS; JOINT COORDINATES; MATRIX; MODEL-BASED CONTROL; MODEL-BASED CONTROLLER; MOTION RANGE; NUMERICALLY ROBUST; PARALLEL KINEMATICS MACHINES; PARALLEL MANIPULATORS; PD CONTROL; PSEUDO-INVERSES; RANGE OF MOTIONS; REDUNDANCY RESOLUTION; REDUNDANT ACTUATION; REDUNDANT COORDINATES; SINGULARITY-FREE; TRAJECTORY TRACKING;

ACTUATORS; EQUATIONS OF MOTION; REDUNDANCY;

CONTROLLERS;

EID: 84857040417     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.11.014     Document Type: Article

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