Force Analysis and Control of Redundantly Actuated Parallel Robots
The character that redundantly actuators systems are statically indeterminate is usually cited as the reason for optimizing the internal and external force distribution. Usually the pseudo inverse approach is adopted to minimize the two norm of the input torque. In this approach the energy consumption is considered. In addition, Lagrange multiplier formulation is another method validly can be used to optimize the force of parallel mechanism. In the way, the minimized force of each joint is remained. In this paper, the internal force of parallel mechanism is defined and that of redundantly actuated one is analyzed. A new force optimum scheme that considers the internal force of mechanism and torque limit of motors is presented. PD control law is used for force control. Validity of non-redundant actuated parallel mechanism case and upside later two approaches is compared with each other through simulation experiment of a plant two-free degree parallel mechanism.
Redundant actuation Parall elmechanism Force control Optimization Internal force
Xu Wenzheng Zhang Jinglin Lu Zhen
School of Automation Science And Electrical Engineering, Beihang University,Beijing, 100083 College of Chemical and Environment Engineering, North University of China, Taiyuan, 030051
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）