Control of Parallel Mechanisms

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)

Abstract

There is a great deal of research on control of parallel mechanisms that considers their characteristics or how they may be made best use of. In this review, a dynamic control method by Uecker is introduced. As to force control, it explains effectiveness of parallel mechanisms and a hybrid control scheme by Nguyen. Merits of redundant actuation are discussed. Minimization of actuation torque by Ropponen, singularity avoidance by Kumar, direct compliance control by Yokoi and relation of internal force to stiffness by Hanafusa are introduced.

Original languageEnglish
Pages (from-to)559-571
Number of pages13
JournalAdvanced Robotics
Volume8
Issue number6
DOIs
Publication statusPublished - 1993
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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