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 language | English |
|---|---|
| Pages (from-to) | 305-310 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| Publication status | Published - 1996 Jan 1 |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 1996 Apr 22 → 1996 Apr 28 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering