High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures | IEEE Conference Publication | IEEE Xplore

High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures


Abstract:

This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The p...Show More

Abstract:

This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.
Date of Conference: 15-15 December 2005
Date Added to IEEE Xplore: 30 January 2006
Print ISBN:0-7803-9567-0
Print ISSN: 0191-2216
Conference Location: Seville, Spain

References

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