Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections

DOI10.1007/s11012-010-9380-2zbMath1370.70050OpenAlexW1979172781MaRDI QIDQ2429869

Andreas Müller

Publication date: 5 April 2011

Published in: Meccanica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11012-010-9380-2

zbMATH Keywords

controlmodel uncertaintiesinverse dynamicsparallel manipulatorredundant actuation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (2)

A Gough-Stewart parallel manipulator with configurable platform and multiple end-effectors ⋮ Elastodynamics of a spatial redundantly actuated parallel mechanism constrained by two higher kinematic pairs

Cites Work

• Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control
• Force redundancy in parallel manipulators: theoretical and practical issues.
• Study of the antagonistic stiffness of parallel manipulators with actuation redundancy
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