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Conference Paper: Force control of parallel link manipulator with hydraulic actuators

TitleForce control of parallel link manipulator with hydraulic actuators
Authors
Kosuge, KazuhiroTakeo, KojiFukuda, ToshioKitayama, HitoshiTakeuchi, NobutoMurakami, Hiroki
Issue Date1996
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1996, v. 1, p. 305-310 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.1996.503794
AbstractThis paper proposes a force control algorithm for Stewart Platform type of parallel link manipulators with velocity controlled hydraulic actuators. First, we design a control scheme for one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for parallel link manipulator is also proposed. The control scheme is designed based on velocity based force control algorithm, so that we can apply it to the parallel link manipulators with velocity controlled hydraulic actuators. The proposed algorithm is applied to the experimental system with six degrees of freedom and the experimental results illustrate the validity of the system.
Persistent Identifierhttp://hdl.handle.net/10722/302663
ISSN
1050-4729
2023 SCImago Journal Rankings: 1.620

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorTakeo, Koji-
dc.contributor.authorFukuda, Toshio-
dc.contributor.authorKitayama, Hitoshi-
dc.contributor.authorTakeuchi, Nobuto-
dc.contributor.authorMurakami, Hiroki-
dc.date.accessioned2021-09-07T08:42:21Z-
dc.date.available2021-09-07T08:42:21Z-
dc.date.issued1996-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1996, v. 1, p. 305-310-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302663-
dc.description.abstractThis paper proposes a force control algorithm for Stewart Platform type of parallel link manipulators with velocity controlled hydraulic actuators. First, we design a control scheme for one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for parallel link manipulator is also proposed. The control scheme is designed based on velocity based force control algorithm, so that we can apply it to the parallel link manipulators with velocity controlled hydraulic actuators. The proposed algorithm is applied to the experimental system with six degrees of freedom and the experimental results illustrate the validity of the system.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleForce control of parallel link manipulator with hydraulic actuators-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.1996.503794-
dc.identifier.scopuseid_2-s2.0-0029707220-
dc.identifier.volume1-
dc.identifier.spage305-
dc.identifier.epage310-

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