loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Juan de Dios Flores Mendez ; Henrik Schiøler ; Ole Madsen and Shaoping Bai

Affiliation: Aalborg University, Denmark

Keyword(s): Robotics, Redundant Parallel Manipulators, Control, Optimization, Compliant Motion, Impedance Control.

Related Ontology Subjects/Areas/Topics: Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Optimization Algorithms ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. Control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.238.138.162

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Mendez, J.; Schiøler, H.; Madsen, O. and Bai, S. (2017). Impedance Control of a Redundant Parallel Manipulator. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-263-9; ISSN 2184-2809, SciTePress, pages 104-111. DOI: 10.5220/0006433301040111

@conference{icinco17,
author={Juan de Dios Flores Mendez. and Henrik Schiøler. and Ole Madsen. and Shaoping Bai.},
title={Impedance Control of a Redundant Parallel Manipulator},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2017},
pages={104-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006433301040111},
isbn={978-989-758-263-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Impedance Control of a Redundant Parallel Manipulator
SN - 978-989-758-263-9
IS - 2184-2809
AU - Mendez, J.
AU - Schiøler, H.
AU - Madsen, O.
AU - Bai, S.
PY - 2017
SP - 104
EP - 111
DO - 10.5220/0006433301040111
PB - SciTePress