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Control of parallel manipulators using force feedback
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Nanua, Prabjot |
| Copyright Year | 1994 |
| Description | Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions. |
| File Size | 595459 |
| Page Count | 11 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19950005141 |
| Archival Resource Key | ark:/13960/t2d847x1t |
| Language | English |
| Publisher Date | 1994-03-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Dynamic Response Feedback Manipulators Dynamic Models End Effectors Dynamic Loads Computerized Simulation Control Theory Robotics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
