High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures

This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.