Investigation of Indirect Force Control Strategies on Parallel Manipulator (Record no. 14737)

MARC details
000 -LEADER
fixed length control field 02419nam a22001697a 4500
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 621.8
Item number G552I
100 ## - MAIN ENTRY--AUTHOR NAME
Personal name Goel, Akshay
245 ## - TITLE STATEMENT
Title Investigation of Indirect Force Control Strategies on Parallel Manipulator
Statement of responsibility, etc by Akshay Goel
260 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT)
Place of publication IIT Jodhpur
Name of publisher Department of Mechanical Engineering
Year of publication 2019
300 ## - PHYSICAL DESCRIPTION
Number of Pages xiii,56p.
Other physical details HB
520 ## - SUMMARY, ETC.
Summary, etc "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),<br/>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<br/>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<br/>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,<br/>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.<br/>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<br/>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<br/>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<br/>force-control strategies, namely, Stiffness, Impedance and Admittance control, on parallel manipulators."<br/>
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical Term Indirect Force Control Strategies
Topical Term MTech Theses
Topical Term Department of Mechanical Engineering
700 ## - ADDED ENTRY--PERSONAL NAME
Personal name Shah, Suril V.
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Koha item type Thesis
Holdings
Withdrawn status Lost status Damaged status Not for loan Collection code Permanent Location Current Location Shelving location Date acquired Full call number Accession Number Price effective from Koha item type
      Not For Loan Reference S. R. Ranganathan Learning Hub S. R. Ranganathan Learning Hub Course Reserve 2024-01-30 621.8 G552I TM00154 2024-01-30 Thesis