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Wrench Guided Task Space Trajectory Control of Parallel Manipulators

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Book cover Machines, Mechanism and Robotics

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Wrench guided task space trajectory motion control is described in the paper. Serving the change in task space trajectory frequently through code is insurmountable. An easily induced wrench trajectory at the task space as the input to generate proportional six DOF motion output is looked into as an alternative to conventional motion programming. The paper also discusses the implementation of joint force-based homing, task space force–torque estimation, and force-assistive task space motion. Each of the modules has been implemented on six DOF parallel mechanism-based manipulator.

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Authors and Affiliations

  1. Manipal University, Jaipur, India

    Anirudh Krishnan Komaralingam

  2. Division of Remote Handling & Robotics, Bhabha Atomic Research Centre, Trombay, Mumbai, 400085, India

    T A Dwarakanath & Gaurav Bhutani

Authors
  1. Anirudh Krishnan Komaralingam
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  2. T A Dwarakanath
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  3. Gaurav Bhutani
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Corresponding authors

Correspondence to Anirudh Krishnan Komaralingam , T A Dwarakanath or Gaurav Bhutani .

Editor information

Editors and Affiliations

  1. Division of Remote Handling and Robotics, Bhabha Atomic Research Centre (BARC), Mumbai, India

    D N Badodkar

  2. Division of Remote Handling and Robotics, Bhabha Atomic Research Centre (BARC), Mumbai, India

    T A Dwarakanath

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© 2019 Springer Nature Singapore Pte Ltd.

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Komaralingam, A.K., Dwarakanath, T.A., Bhutani, G. (2019). Wrench Guided Task Space Trajectory Control of Parallel Manipulators. In: Badodkar, D., Dwarakanath, T. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8597-0_24

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  • DOI: https://doi.org/10.1007/978-981-10-8597-0_24

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-8596-3

  • Online ISBN: 978-981-10-8597-0

  • eBook Packages: EngineeringEngineering (R0)

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