An Internal Force Sensor for Control of a Redundant Parallel Manipulator

development and implementation of an optimized control strategy for induction machine in an electric vehicle

in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...

An Approach to Torque Optimizing Control for a Redundant Manipulator

A new control method for kinematically redundant manipulators having the properties of local torqueoptimality and singularity-robustness is developed. The proposed control method is applied to the numerical model of the SNU-ERC 3-DOF direct-drive manipulator. It is shown that the proposed control method is very e ective in overcoming the singularity problem, especially in the case of using the ...

Force control in a parallel manipulator through virtual foundations

An overwhelming controller provides robustness against uncertain parameters, disturbances and un-modelled dynamics. A simplified inverse dynamics model is used in this article to develop an overwhelming controller for a parallel manipulator (a Stewart platform), where the controller accommodates the modelling uncertainties such as the simplifications made for development of the inverse model in...

Concepts for a Sensor -Guided Redundant Heavy Manipulator

Singularity Analysis of a 3-rrrr Redundant Spherical Parallel Manipulator

ABSTRACT Study of parallel manipulators highlights the importance of identifying singular configurations (singularities) during the design, and of avoiding them during the operation; because in these configurations the instantaneous kinematics of the manipulator becomes indeterminate. This paper focuses on the determination of singular configurations of a kinematically redundant 3-RRRR spherica...