Impedance Control of a Redundant Parallel Manipulator

Juan de Dios Flores Mendez, Henrik Schiøler, Ole Madsen, Shaoping Bai

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.

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Paper Citation


in Harvard Style

Mendez J., Schiøler H., Madsen O. and Bai S. (2017). Impedance Control of a Redundant Parallel Manipulator . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 104-111. DOI: 10.5220/0006433301040111


in Bibtex Style

@conference{icinco17,
author={Juan de Dios Flores Mendez and Henrik Schiøler and Ole Madsen and Shaoping Bai},
title={Impedance Control of a Redundant Parallel Manipulator},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={104-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006433301040111},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Impedance Control of a Redundant Parallel Manipulator
SN - 978-989-758-263-9
AU - Mendez J.
AU - Schiøler H.
AU - Madsen O.
AU - Bai S.
PY - 2017
SP - 104
EP - 111
DO - 10.5220/0006433301040111