Abstract
Parallel robots in the context of handling and assembly benefit from their inherent high dynamics. However, their coupled nonlinear system dynamics demand for an effective control system in terms of accuracy, robustness and disturbance rejection. This paper presents a hybrid control scheme that is designed specifically to these features. The hierarchical approach encapsulates the robot dynamics on drive-level and, thus, provides the basis for effective real-time hybrid control. It is interfaced by a fully specified C 2-continuous trajectory. Moreover, concepts of virtual sensors are used for integration of additional components and mechanisms.
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Kolbus, M., Wobbe, F., Reisinger, T., Schumacher, W. (2010). Integrated Force and Motion Control of Parallel Robots – Part 1: Unconstrained Space. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_14
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DOI: https://doi.org/10.1007/978-3-642-16785-0_14
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