TY - JOUR
T1 - Force control of parallel link manipulator
AU - Kosuge, Kazuhiro
AU - Takeo, Koji
AU - Fukuda, Toshio
AU - Kitayama, Hitoshi
AU - Takeuchi, Nobuto
AU - Murakami, Hiroki
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 1996
Y1 - 1996
N2 - 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.
AB - 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.
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U2 - 10.1299/kikaic.62.3536
DO - 10.1299/kikaic.62.3536
M3 - Article
AN - SCOPUS:0030232921
VL - 62
SP - 3536
EP - 3542
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 601
ER -