The Modeling of Redundantly Actuated Mechanical Systems

Robust Control of Redundantly Actuated Dynamical Systems

The eigenstructure assignment scheme for robust multivariable state feedback control is extended to redundantly actuated dynamical systems. The fact that the plants that are atleast square allow for the exact assignment of an arbitrary orthonormal set of closed loop eigenvectors makes this methodology attractive for feedback controller design poorly modeled dynamical systems. For second order m...

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Redundantly actuated Parallel Kinematic Machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strain...

Modeling, Simulation and Control of Redundantly Actuated Parallel Manipulators

Kinematics of redundantly actuated closed chains

The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination algorithms that maintain an optimal force distr...

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structu...