High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures
- Resource Type
- Conference
- Authors
- Abdellatif, H.; Grotjahn, M.; Heimann, B.
- Source
- Proceedings of the 44th IEEE Conference on Decision and Control Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on. :2024-2029 2005
- Subject
- Robotics and Control Systems
Computing and Processing
Concurrent computing
Robot control
Parallel robots
Manipulator dynamics
Control systems
Kinematics
Computational efficiency
Friction
High performance computing
Hardware
- Language
- ISSN
- 0191-2216
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.