Title :
Dynamics modelling and hybrid control of the 6-UPS platform
Author :
Daun, Q.J. ; Daun, B.Y. ; Daun, X.C.
Author_Institution :
Xidian Univ., Xi´´an, China
Abstract :
The article presents the inverse dynamics model of a 6-Universal-Prismatic-Spherical (UPS) parallel mechanism and proposes the structure of a force controller for the execution of tasks characterized by interaction with the environment. The task space model of machine´s dynamics is obtained in an efficient and compact form by means of the principle of virtual work. A simulation is shown that hybrid position/force control schemes should be able to provide good performances for medical diarthrosis rehabilitation.
Keywords :
force control; manipulator dynamics; position control; 6-universal prismatic spherical parallel mechanism; dynamics modelling; force controller; hybrid control; machine dynamics; medical diarthrosis rehabilitation; position control; task space model; Computational modeling; Dynamics; Force; Inverse problems; Joints; Kinematics; Robots;
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
DOI :
10.1109/ICMA.2010.5589105
