Abstract
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 language | English |
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Pages (from-to) | 3536-3542 |
Number of pages | 7 |
Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
Volume | 62 |
Issue number | 601 |
DOIs | |
Publication status | Published - 1996 |
Externally published | Yes |
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering