Title :
A mixed elastic and rigid-body dynamic model of an actuation redundant parallel robot with high-reduction gears
Author :
Kock, S. ; Schumacher, W.
Author_Institution :
Control Eng. Lab., Tech. Univ. Braunschweig, Germany
Abstract :
A 2 DOF parallel redundant manipulator (PA-R-MA) is introduced. The manipulator is redundantly actuated by three servomotors with high-reduction gears. It is equipped with structurally integrated torque sensors. An elastic model of the null-space dynamics is derived needed for feedback control of redundant torques. A cartesian rigid-body dynamic model of the motion DOF is shown to be decoupled from the elastic model. Experimental results show the validity of the models
Keywords :
feedback; manipulator dynamics; redundancy; redundant manipulators; servomotors; actuation redundant parallel robot; cartesian model; high-reduction gears; mixed elastic/rigid-body dynamic model; null-space dynamics; redundant torques; structurally integrated torque sensors; Actuators; Control engineering; Gears; Kinematics; Legged locomotion; Orbital robotics; Parallel robots; Robot sensing systems; Robotics and automation; Torque;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844875
