A Control Concept for Parallel Kinematics

  • Alexandra Ratering
  • Peter Eberhard
Conference paper
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)


In machine tools with parallel and hybrid kinematics new problems arise in comparison to standard machines, such as inherently nonlinear dynamics, machine vibrations due to elasticities especially because of the lightweight construction and independently controllable drives being infeasible due to the parallel kinematics. Simulation results with a combination of advanced position control methods such as the presented nonlinear flatness-based controller together with active vibration damping show the potential to significantly improve the machine tool performance with such a control concept.

Key words

parallel kinematics elastic multibody system flatness nonlinear position control active vibration damping 


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Copyright information

© Springer 2005

Authors and Affiliations

  • Alexandra Ratering
    • 1
  • Peter Eberhard
    • 1
  1. 1.Institute B of MechanicsUniversity of StuttgartGermany

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