Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy

DOI10.1016/j.mechmachtheory.2008.04.002zbMath1180.70019OpenAlexW2047782333MaRDI QIDQ1016962

Jun Wu, Tiemin Li, JinSong Wang, Li-Ping Wang

Publication date: 14 May 2009

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2008.04.002

zbMATH Keywords

optimizationprinciple of virtual workforce switching control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

A Gough-Stewart parallel manipulator with configurable platform and multiple end-effectors ⋮ A new method for optimum design of parallel manipulator based on kinematics and dynamics

Cites Work

• Unnamed Item
• Force redundancy in parallel manipulators: theoretical and practical issues.
• Position and force control of flexible joint robots during constrained motion tasks
• Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control
• Force capabilities of redundantly-actuated parallel manipulators
• Force-unconstrained poses for a redundantly-actuated planar parallel manipulator
• Study of the antagonistic stiffness of parallel manipulators with actuation redundancy
• Kinematic and dynamic modelling for real-time control of Tau parallel robot
• Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control
• An efficient method for inverse dynamics of manipulators based on the virtual work principle

This page was built for publication: Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy