Abstract
The design and experimental verification of a control system for fast parallel robots with actuation redundancy was pioneered with the prototype Pa-R-Ma. It is shown how actuation redundancy can improve the capabilities of parallel robots, and how a control can be implemented. A particular focus has been put on verifying selected redundancy strategies that are well-known from literature, but whose applicability for fast parallel robots had not yet been verified, in particular in conjunction with designs that use gear transmissions rather than gearless servo motors. Undesired stress peaks caused by the inherently overconstrained structure were reduced by a factor of 6. To achieve this, a measurement and feedback control of structural forces was developed and verified. As a result, we can show that the actuation redundant manipulator can be moved at very high accelerations without losing control of the internal stress levels. One investigated objective is anti-backlash control, which resulted in an increase of positioning repeatability by a factor of 7.
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Kock, S., Schumacher, W. (2010). Redundant Parallel Kinematic Structures and Their Control. 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_9
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DOI: https://doi.org/10.1007/978-3-642-16785-0_9
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