Year-end Sale % OFF 
Abstract
In this paper the impedance control concept is applied to a class of six-DOF parallel robots. A geometrically consistent six-DOF impedance behaviour is enforced at the end-effector to manage the interaction with the environment. The overall control scheme is based on an inner/outer strategy with an outer impedance control loop and an inner motion control loop of inverse dynamics type. An approximate dynamic model of the parallel structure is adopted for on-line computation of the compensation terms required by the inverse dynamics control law. Simulation results are presented to show the effectiveness of the proposed strategy.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
