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.