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査読

15 被引用数 (Scopus)

抄録

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.

本文言語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

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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