High efficient dynamics calculation approach for computed-force control of robots with parallel structures

verfasst von

H. Abdellatif, Martin Grotjahn, Bodo Heimann

Abstract

This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

IAV GmbH

Typ

Aufsatz in Konferenzband

Seiten

2024-2029

Anzahl der Seiten

6

Publikationsdatum

2005

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Ingenieurwesen (insg.)

Elektronische Version(en)

https://doi.org/10.1109/CDC.2005.1582458 (Zugang: Unbekannt)