Title :
Impedance control of the 3RPS parallel manipulator
Author :
Arabshahi, Hannaneh Z. ; Novinzadeh, Alireza B.
Author_Institution :
Dept. of Mechatron. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran
Abstract :
In this paper, a model-based impedance control has been developed for 3RPS parallel robot. The control law, that is considered as an integrated set of force control strategies, tunes the dynamic relation between force and motion variables. The kinematic and dynamic modeling of robot has been analyzed in this research. Then, the structure of the impedance controller and its features are introduced in the paper. Performance of the controller has been examined through simulations. In case of free motion, the closed loop system will provide suitable motion tracking. In addition, the interaction dynamics can be regulated with the help of proposed controller.
Keywords :
closed loop systems; force control; manipulator dynamics; manipulator kinematics; motion control; 3RPS parallel manipulator; closed loop system; control law; controller performance analysis; dynamic relation; force control strategies; force variables; free motion; impedance controller structure; interaction dynamics; model-based impedance control; motion tracking; motion variables; robot dynamic modeling; robot kinematic modeling; Equations; Force; Impedance; Manipulator dynamics; Parallel robots; Vectors; 3RPS parallel robot; force control; impedance control;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990949
