Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic Actuators
Sprache des Vortragstitels:
ICRA 2022 IEEE International Conference on Robotics and Automation Workshop: "New Frontiers of parallel robotics"
Sprache des Tagungstitel:
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.