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Elastic Stability of Lift Support Structure of RPC Trolley Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Wrench Guided Task Space Trajectory Control of Parallel Manipulators

Authors : Anirudh Krishnan Komaralingam, T A Dwarakanath, Gaurav Bhutani

Published in: Machines, Mechanism and Robotics

Publisher: Springer Singapore

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Abstract

Wrench guided task space trajectory motion control is described in the paper. Serving the change in task space trajectory frequently through code is insurmountable. An easily induced wrench trajectory at the task space as the input to generate proportional six DOF motion output is looked into as an alternative to conventional motion programming. The paper also discusses the implementation of joint force-based homing, task space force–torque estimation, and force-assistive task space motion. Each of the modules has been implemented on six DOF parallel mechanism-based manipulator.

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Metadata
Title
Wrench Guided Task Space Trajectory Control of Parallel Manipulators
Authors
Anirudh Krishnan Komaralingam
T A Dwarakanath
Gaurav Bhutani
Copyright Year
2019
Publisher
Springer Singapore
Book
Machines, Mechanism and Robotics

Print ISBN: 978-981-10-8596-3

Electronic ISBN: 978-981-10-8597-0

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-981-10-8597-0_24

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