Investigation of Indirect Force Control Strategies on Parallel Manipulator
Goel, Akshay
Investigation of Indirect Force Control Strategies on Parallel Manipulator by Akshay Goel - IIT Jodhpur Department of Mechanical Engineering 2019 - xiii,56p. HB
"Parallel Manipulators are seeking attention due to its applications in the areas of simulators, computeraided manufacturing, biomechanical devices, space exploration equipment, non-destructive testing (NDT),
ship cleaning/inspection, cooperative manipulation. In such applications, manipulator interacts with the environment,which eventually imposes constraints on its behaviour. While interaction, such constraints may
cause a rise in reaction forces, which may affect its stability or may even cause physical damage. This problem can be addressed either by making the motion compliant or overcoming the interaction forces by
an appropriate force control strategy. Driven by this motivation, an attempt has been made in this work to develop a framework for implementing different indirect force control strategies on the parallel manipulator,
namely 3-RRR planer parallel manipulator and Stewart Platform.First, the dynamic models and constraint Jacobian matrix of the closed-chain system are obtained.The dynamic model was obtained using the DeNOC based formulation and closed-loop constraint equations.
Implementation of the force control strategy includes environment modelling, integration of position,velocity and force feedback, and control of joint torque to achieve the desired objective. Environmental
interaction model can be implemented in two ways; i.e., either the robot approaches the stationary wall or the wall approaches the still robot. The latter is selected as a part of environment modelling as it allows
setting up a reference for comparison of different strategies. Overview of various force control strategies for the industrial robot can be found in literature. This thesis presents a framework for implementation of the
force-control strategies, namely, Stiffness, Impedance and Admittance control, on parallel manipulators."
Indirect Force Control Strategies
MTech Theses
Department of Mechanical Engineering
621.8 / G552I
Investigation of Indirect Force Control Strategies on Parallel Manipulator by Akshay Goel - IIT Jodhpur Department of Mechanical Engineering 2019 - xiii,56p. HB
"Parallel Manipulators are seeking attention due to its applications in the areas of simulators, computeraided manufacturing, biomechanical devices, space exploration equipment, non-destructive testing (NDT),
ship cleaning/inspection, cooperative manipulation. In such applications, manipulator interacts with the environment,which eventually imposes constraints on its behaviour. While interaction, such constraints may
cause a rise in reaction forces, which may affect its stability or may even cause physical damage. This problem can be addressed either by making the motion compliant or overcoming the interaction forces by
an appropriate force control strategy. Driven by this motivation, an attempt has been made in this work to develop a framework for implementing different indirect force control strategies on the parallel manipulator,
namely 3-RRR planer parallel manipulator and Stewart Platform.First, the dynamic models and constraint Jacobian matrix of the closed-chain system are obtained.The dynamic model was obtained using the DeNOC based formulation and closed-loop constraint equations.
Implementation of the force control strategy includes environment modelling, integration of position,velocity and force feedback, and control of joint torque to achieve the desired objective. Environmental
interaction model can be implemented in two ways; i.e., either the robot approaches the stationary wall or the wall approaches the still robot. The latter is selected as a part of environment modelling as it allows
setting up a reference for comparison of different strategies. Overview of various force control strategies for the industrial robot can be found in literature. This thesis presents a framework for implementation of the
force-control strategies, namely, Stiffness, Impedance and Admittance control, on parallel manipulators."
Indirect Force Control Strategies
MTech Theses
Department of Mechanical Engineering
621.8 / G552I