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

@article{Mller2011APM,
  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},
  year={2011},
  pages={3218-3223}
}
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
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