A projection method for the elimination of contradicting control forces in redundantly actuated PKM

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 3218-3223

  Müller, Andreas ^a   Hufnagel, Timo ^b  

^a UNIVERSITY OF DUISBURG ESSEN   (Germany)

^b HEILBRONN UNIVERSITY   (Germany)

Author keywords

Antagonsim filter; Control; Dynamics; Parallel manipulators; Redundant actuation

Indexed keywords

ANTAGONISTIC CONTROL; ANTAGONSIM FILTER; ASYMPTOTICALLY STABLE; CALIBRATION ERROR; COMPUTED TORQUE CONTROL; CONTROL COMMAND; CONTROL FORCE; CONTROL SCHEMES; DYNAMIC PROPERTY; EFFECT OF MEASUREMENTS; ENCODER RESOLUTION; EXCITED VIBRATIONS; MODEL UNCERTAINTIES; PARALLEL MANIPULATORS; PROJECTION METHOD; REDUNDANT ACTUATION; SET-POINT CONTROL;

CONTROL; DECENTRALIZED CONTROL; DYNAMICS; ENERGY DISSIPATION; UNCERTAINTY ANALYSIS;

ROBOTICS;

EID: 84862025349     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979721     Document Type: Conference Paper

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