Spatio-geometric impedance control of Gough-Stewart platforms

Author

Fasse, Ernest D. ; Gosselin, Clément M.

Author_Institution

Dept. of Aerosp. & Mech. Eng., Arizona Univ., Tucson, AZ, USA

Volume

15

Issue

2

fYear

1999

fDate

4/1/1999 12:00:00 AM

Firstpage

281

Lastpage

288

Abstract

This paper looks at the control of mechanical impedance of the so-called Gough-Stewart class of parallel platforms. Two methods of compliance control are presented. One is based on global potential energy functions that have previously been applied to controlling serial manipulators and electrodynamically levitated platforms. The second method uses the exponential map to associate finite displacements of the platform from equilibrium with twist displacements. Compliant wrenches are then proportional to the twist displacements. Control of spatial damping is addressed as well, justifying the classification as impedance control. Control algorithms and simulation results are given

Keywords

compliance control; damping; displacement control; manipulator dynamics; nonlinear systems; vibration control; Gough-Stewart platforms; compliance control; exponential map; finite displacements; mechanical impedance control; nonlinear systems; parallel platforms; parallel robots; potential energy functions; serial manipulators; spatial damping; spatial geometry; Automatic control; Damping; Force control; Geometry; Impedance; Manipulators; Motion control; Potential energy; Quaternions; Robotic assembly;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.760349

Filename

760349