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

fYear

2014

fDate

15-17 Oct. 2014

Firstpage

486

Lastpage

492

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6990949

Filename

6990949