Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy (Q1016962)

The authors discuss the title problem using the principle of virtual work and an optimization using least squares. They propose a switching position and force (kinematic and kinetic) control strategy, where different links are alternately controlled by kinematic and kinetic actuators. An application is envisioned with a four degree-of-freedom hybrid machine tool. The paper presents a potentially useful procedure for emplying redundancy to obtain optimal and precise machine motion.