NDLI: Piecewise Overactuation of Parallel Mechanisms Following Singular Trajectories: Modeling, Simulation and Control

Content Provider	Springer Nature Link
Author	Gavski, L. Fisette, P. Samin, J. C.
Copyright Year	2004
Abstract	The present approach aims at using the principle of redundant actuation for parallel robotic structures in order to follow complex trajectories in a so-called “mechanically advantageous” way, meaning that for any trajectory configuration the actuators can bear important loads (internal and/or external). Multibody system formalisms using relative coordinates and a robust technique to solve the closed-loop kinematic constraints, which are used for the purpose of modeling, are briefly reviewed. The notion of robot manipulability (and its relation to the velocity and force ellipsoids) is then recalled. As an initial step of the approach developed, suitable locations for the actuators of the non-overactuated system are proposed, the criteria being based on the theoretical concepts mentioned above. Then, according to some possible “customer” requirements, the number of actuators and their location are optimally specified on the basis of a piecewise trajectory planning. Both static and dynamic aspects are treated, depending on the application. Once the number and the locations of the actuators have been determined, a solution for the overdetermined inverse dynamics is proposed. Finally, the approach is validated via two examples of multibody parallel structures that are modeled, simulated and controlled in a suitable environment.
Starting Page	317
Ending Page	343
Page Count	27
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	12
Issue Number	4
e-ISSN	1573272X
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2004-01-01
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	closed-loop kinematics singularities manipulability overactuation feed-forward computed torque Optimization Vibration, Dynamical Systems, Control Mechanical Engineering Automotive and Aerospace Engineering, Traffic Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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