Impedance Control of the Hydraulic Shoulder A 3-DOF Parallel Manipulator

  title={Impedance Control of the Hydraulic Shoulder A 3-DOF Parallel Manipulator},
  author={H. Sadjadian and Hamid D. Taghirad},
  journal={2006 IEEE International Conference on Robotics and Biomimetics},
In this paper, a model-based impedance control strategy is developed for a 3 DOF parallel manipulator to manage the interaction of the robot with the environment. Kinematic and dynamic modeling of the manipulator has been analyzed in order to be used for both simulation and control purposes. The impedance controller objective and the structure of the proposed controller are introduced and controller gain selection is discussed. A simulation study evaluates the effectiveness of the proposed… CONTINUE READING

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