Control of parallel mechanisms
- 1 January 1993
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 8 (6) , 559-571
- https://doi.org/10.1163/156855394x00257
Abstract
There is a great deal of research on control of parallel mechanisms that considers their characteristics or how they may be made best use of. In this review, a dynamic control method by Uecker is introduced. As to force control, it explains effectiveness of parallel mechanisms and a hybrid control scheme by Nguyen. Merits of redundant actuation are discussed. Minimization of actuation torque by Ropponen, singularity avoidance by Kumar, direct compliance control by Yokoi and relation of internal force to stiffness by Hanafusa are introduced.Keywords
This publication has 9 references indexed in Scilit:
- Singularity-free parameterization and performance analysis of actuation redundancyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Effect of Internal Forces on Stiffness of Closed Mechanisms.Journal of the Robotics Society of Japan, 1992
- Analysis of Internal Force Effect in Parallel ManipulatorsTransactions of the Society of Instrument and Control Engineers, 1991
- Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuatorsIEEE Transactions on Robotics and Automation, 1989
- Dynamics Computation of Closed Link Robots and Optimization of Actuational RedundancyTransactions of the Society of Instrument and Control Engineers, 1989
- Coupled drive of the multi-DOF robot.Journal of the Robotics Society of Japan, 1989
- A direct compliance control for a parallel link arm. (2nd Report, The stability analysis for the arm with negative stiffness joints).TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, 1989
- Direct compliance control for a parallel link arm. 1st report. The basic concept and decoupling condition.TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, 1988
- A Geometrical Analysis of Manipulator DynamicsTransactions of the Society of Instrument and Control Engineers, 1983