Force control of parallel link manipulator with hydraulic actuators

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

Research output: Contribution to journalConference article

15 Citations (Scopus)

Abstract

This paper proposes a force control algorithm for Stewart Platform type of parallel link manipulators with velocity controlled hydraulic actuators. First, we design a control scheme for one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for parallel link manipulator is also proposed. The control scheme is designed based on velocity based force control algorithm, so that we can apply it to the parallel link manipulators with velocity controlled hydraulic actuators. The proposed algorithm is applied to the experimental system with six degrees of freedom and the experimental results illustrate the validity of the system.

Original languageEnglish
Pages (from-to)305-310
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1996 Jan 1
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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