Paper Title:
On the Control of Tendon Based Parallel Manipulators
  Abstract

Tendon based parallel manipulators are capable of realizing movement of high speed and acceleration. In order to perform tasks that require direct contact with the environment control schemes are needed that adapt both operational space variables and tendon forces. By use of an inverse dynamics approach a motion control scheme in operational space is presented. In redundant systems the forces that act along the tendons can be divided into internal forces, the sum of which is zero, and external forces, that produce the driving force for the endeffector. Based on that property an additional and decoupled force control scheme is presented.

  Info
Periodical
Solid State Phenomena (Volumes 166-167)
Edited by
Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
Pages
395-402
DOI
10.4028/www.scientific.net/SSP.166-167.395
Citation
C. Sturm, D. Schramm, "On the Control of Tendon Based Parallel Manipulators", Solid State Phenomena, Vols. 166-167, pp. 395-402, 2010
Online since
September 2010
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Price
$32.00
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