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

Volume

1

fYear

2001

fDate

2001

Firstpage

171

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.973354

Filename

973354