Title:Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic ActuatorsAuthor(s):Thomas Kordik, Hubert Gattringer, Andreas MüllerAbstract:Introducing serial elastic actuators (SEA) into redundantly actuated parallel kinematic manipulators (RA-PKM) yields an underactuated dynamic system. Due to this underactuation the end-effector position control becomes a challenging task mainly due to the missing internal dynamics. In this paper, a flatness-based control approach is introduced as a mean to address this challenge. The proposed control method is applied to and tested in simulations on a planar PKM.Booktitle:ICRA 2022 IEEE International Conference on Robotics and Automation Workshop: "New Frontiers of parallel robotics"Page Reference:4 page(s)Publishing:5/2022