On the Control of Tendon Based Parallel Manipulators

Abstract:

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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 and 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:

$35.00

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