A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications

A 2-DOF parallel manipulator with actuation redundancy is examined for high-speed and stiffness-controlled operation. Advantages of actuation redundancy are outlined. The kinematics and singularity-free workspace of the manipulator are presented together with a force transmission analysis. Finally, a novel control scheme that guarantees a lower bound of the end-effector stiffness (LBSC) is presented. Simulation results are compared with a traditional control scheme for high-speed applications using the minimal 2-norm of actuator torques