Force control of parallel link manipulator

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

doi:10.1299/kikaic.62.3536

Force control of parallel link manipulator

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

ENG - Robotics

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

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
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	https://doi.org/10.1299/kikaic.62.3536
Publication status	Published - 1996

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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author = "Kazuhiro Kosuge and Koji Takeo and Toshio Fukuda and Hitoshi Kitayama and Nobuto Takeuchi and Hiroki Murakami",

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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

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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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

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