Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control

DOI10.1007/s11044-004-2532-1zbMath1114.70009OpenAlexW2091164720MaRDI QIDQ1768858

L. Ganovski, Jean-Claude Samin, Paul Fisette

Publication date: 15 March 2005

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-004-2532-1

zbMATH Keywords

closed-loop kinematicsfeed-forward computed torque

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items

Generation and application of prestress in redundantly full-actuated parallel manipulators, Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control, Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy, Symbolic Sensitivity Analysis of Multibody Systems

Uses Software

• ROBOTRAN

Cites Work

• Unnamed Item
• Force redundancy in parallel manipulators: theoretical and practical issues.
• Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.
• Parallel robots
• Representational singularities in the torque optimization problem of an active closed loop mechanism
• Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control
• Symbolic generation of large multibody system dynamic equations using a new semi-explicit Newton/Euler recursive scheme
• Contribution to symbolic analysis of deformable multi‐body systems