Force control of parallel link manipulator

Kazuhiro Kosuge, Koji Takeo, Toshio Fukuda, Hitoshi Kitayama, Nobuto Takeuchi, Hiroki Murakami

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


We propose a force control algorithm for a Stewart Platform parallel link manipulators. First, we design a control scheme for a one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for the parallel link manipulator is also proposed. The control scheme design is based on a velocity based force control algorithm so that we can use velocity-controlled hydraulic actuators as parallel link manipulators. The proposed algorithm is applied to an experimental system and the results illustrate the validity of the system.

Original languageEnglish
Pages (from-to)3536-3542
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number601
Publication statusPublished - 1996
Externally publishedYes

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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