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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Mu¨ller, Andreas |
| Copyright Year | 2008 |
| Abstract | The inverse dynamics and control of redundantly actuated PKM in the presence of uncertainties is the focus of this paper. Actuation redundancy allows for a purposeful distribution of control forces, taking into account secondary tasks, such optimal force distribution, active stiffness, and backlash avoiding control. A closed form solution of the inverse dynamics problem for simply redundantly actuated PKM is given. The applicability of the augmented PD and computed torque control schemes is analyzed. It is shown that, in the presence of model uncertainties, adopting the standard control schemes leads to parasitic perturbation forces that can not be compensated by the controls. An amended version of these control scheme is proposed that does not suffer from such effects. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 973 |
| Ending Page | 981 |
| Page Count | 9 |
| File Format | |
| ISBN | 9780791843260 |
| DOI | 10.1115/DETC2008-49113 |
| e-ISBN | 0791838315 |
| Volume Number | Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2008-08-03 |
| Publisher Place | Brooklyn, New York, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Backlash Control Prestress Parallel manipulator Inverse dynamics Model uncertainties Stiffness control Redundant actuation Manipulators Stiffness Uncertainty Dynamics (mechanics) |
| Content Type | Text |
| Resource Type | Article |
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