A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators

被引：79

作者：

Mikelsons, Lars ^{[1
]}

Bruckmann, Tobias ^{[1
]}

Hiller, Manfred ^{[1
]}

Schramm, Dieter ^{[1
]}

机构：

[1] Univ Duisburg Essen, Chair Mechatron, D-47057 Duisburg, Germany

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543805

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Tendon-based paraHel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the endeffector along a given trajectory. Since tendons can only transmit limited and tractive forces, it is essential to apply a valid tendon force distribution. Due to safety and precision requirements, a combined position and force control is needed where the force calculation delivers the desired tendon force distributions. The high dynamic potential of the robot demands for realtime capable algorithms. To avoid steps in the motor torques the calculated tension force distributions also have to be continuous along the trajectory. In this paper, a new algorithm for tendon force distribution calculations capable for usage on a realtime system is proposed and its continuity is proven.

引用

页码：3869 / 3874

页数：6

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