A projection method for the elimination of contradicting control forces in redundantly actuated PKM

  title={A projection method for the elimination of contradicting control forces in redundantly actuated PKM},
  author={Andreas M{\"u}ller and Timo Hufnagel},
  journal={2011 IEEE International Conference on Robotics and Automation},
While redundantly actuated PKM(RA-PKM) possess desirable kinematic and dynamic properties, their control is impeded by the occurrence of antagonistic control forces. Such forces are observed in non-linear model-based as well as in decentralized control schemes. In this paper it is outlined that such antagonistic forces are inherent to the decentralized control of RA-PKM, and also that calibration errors and finite encoder resolutions cause antagonistic control forces and excited vibrations… CONTINUE READING
5 Citations
15 References
Similar Papers


Publications referenced by this paper.
Showing 1-10 of 15 references

A Realtime Coordinate Switching Method for Model-Based Control of Parallel Manipulators

  • T. Hufnagel, A. Müller
  • ECCOMAS Thematic Conference on Multibody Dynamics…
  • 2011
1 Excerpt

Martinet : A Review on the Dynamic Control of Parallel Kinematic Machines : Theory and Experiments

  • N. Andreff F. Paccot, P.
  • 2010

An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF

  • L. Wang, J. Wu, J.Wang, Z. You
  • Hybrid Machine Tool, Mechatronics,
  • 2009
1 Excerpt

Inverse - kinematicsbased control of a redundantly actuated platform for rehabilitation

  • J. A. Saglia, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell
  • 2009

Auto-calibration of a redundant parallel manipulator based on the projected tracking error

  • Y. Zhang
  • Arch. Appl. Mech. Vol
  • 2008
1 Excerpt

Müller : Stiffness Control of redundantly actuated Parallel Manipulators

  • A.
  • Consequences of Geometric Imperfections for the…
  • 2006

Similar Papers

Loading similar papers…