Force Analysis and Control of Redundantly Actuated Parallel Robots

摘要

The character that redundantly actuators systems are statically indeterminate is usually cited as the reason for optimizing the internal and external force distribution. Usually the pseudo inverse approach is adopted to minimize the two norm of the input torque. In this approach the energy consumption is considered. In addition, Lagrange multiplier formulation is another method validly can be used to optimize the force of parallel mechanism. In the way, the minimized force of each joint is remained. In this paper, the internal force of parallel mechanism is defined and that of redundantly actuated one is analyzed. A new force optimum scheme that considers the internal force of mechanism and torque limit of motors is presented. PD control law is used for force control. Validity of non-redundant actuated parallel mechanism case and upside later two approaches is compared with each other through simulation experiment of a plant two-free degree parallel mechanism.