Force control of parallel link manipulator with hydraulic actuators

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

研究成果: Conference article

15 引用 (Scopus)

抜粋

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.

元の言語English
ページ(範囲)305-310
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版物ステータスPublished - 1996 1 1
イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
継続期間: 1996 4 221996 4 28

ASJC Scopus subject areas

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

フィンガープリント Force control of parallel link manipulator with hydraulic actuators' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用