Control of Parallel Mechanisms

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21 Citations (Scopus)


There is a great deal of research on control of parallel mechanisms that considers their characteristics or how they may be made best use of. In this review, a dynamic control method by Uecker is introduced. As to force control, it explains effectiveness of parallel mechanisms and a hybrid control scheme by Nguyen. Merits of redundant actuation are discussed. Minimization of actuation torque by Ropponen, singularity avoidance by Kumar, direct compliance control by Yokoi and relation of internal force to stiffness by Hanafusa are introduced.

Original languageEnglish
Pages (from-to)559-571
Number of pages13
JournalAdvanced Robotics
Issue number6
Publication statusPublished - 1993


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