Title :
Advantages and dynamics of parallel manipulators with redundant actuation
Author :
Cheng, H. ; Liu, G.F. ; Yiu, Y.K. ; Xiong, Z.H. ; Li, Z.X.
Author_Institution :
Hong Kong Univ. of Sci. & Technol., China
Abstract :
Parallel manipulators with redundant actuation present both problems and advantages. We analyze some major advantages of redundancy to demonstrate its usefulness. The dynamics of closed-chain mechanisms has been studied by many researchers. However, they often only consider the case of normal actuation. Few methods are suitable for closed-chain mechanisms with redundant actuation. In the article, the dynamic model of redundantly actuated closed-chain mechanisms is presented explicitly by applying Lagrange-D´Alembert formulations. As an illustrative example, the dynamic model of a 2-DOF planar parallel redundant manipulator is presented. A PID control algorithm in the joint space is experimentally implemented on this parallel manipulator to perform trajectory tracking. The experimental results show the validity of PID control
Keywords :
manipulator dynamics; matrix algebra; position control; redundant manipulators; three-term control; 2 DOF manipulator; Lagrange-D´Alembert formulations; PID control algorithm; closed-chain mechanisms; dynamics; parallel manipulators; redundancy; redundant actuation; trajectory tracking; Actuators; Equations; Haptic interfaces; Lagrangian functions; Legged locomotion; Manipulator dynamics; Orbital robotics; Robot kinematics; Service robots; Three-term control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973354
