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Hybrid force and motion control of flexible joint parallel manipulators using inverse dynamics approach

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dc.contributor.author Korkmaz, Ozan
dc.contributor.author İder, Sıtkı Kemal
dc.date.accessioned 2017-06-09T08:49:11Z
dc.date.available 2017-06-09T08:49:11Z
dc.date.issued 2014
dc.identifier.citation Korkmaz, O., İder, S.K. (2014). Hybrid force and motion control of flexible joint parallel manipulators using inverse dynamics approach. Advanced Robotics, 28(18), 1221-1230. http://dx.doi.org/10.1080/01691864.2014.920719 tr_TR
dc.identifier.issn 0169-1864
dc.identifier.uri http://hdl.handle.net/20.500.12416/1614
dc.description.abstract An inverse dynamics control algorithm is developed for hybrid motion and contact force trajectory tracking control of flexible joint parallel manipulators. First, an open-tree structure is considered by the disconnection of adequate number of unactuated joints. The loop closure constraint equations are then included. Elimination of the joint reaction forces and the other intermediate variables yield a fourth-order relation between the actuator torques and the end-effector position and contact force variables, showing that the control torques do not have an instantaneous effect on the end-effector contact forces and accelerations because of the flexibility. The proposed control law provides simultaneous and asymptotically stable control of the end-effector contact forces and the motion along the constraint surfaces by utilizing the feedback of positions and velocities of the actuated joints and rotors. A two degree of freedom planar parallel manipulator is considered as an example to illustrate the effectiveness of the method tr_TR
dc.language.iso eng tr_TR
dc.publisher Taylor&Francis Ltd tr_TR
dc.relation.isversionof 10.1080/01691864.2014.920719 tr_TR
dc.rights info:eu-repo/semantics/closedAccess
dc.subject Parallel Manipulators tr_TR
dc.subject Flexible Joint tr_TR
dc.subject Force And Motion Control tr_TR
dc.title Hybrid force and motion control of flexible joint parallel manipulators using inverse dynamics approach tr_TR
dc.type article tr_TR
dc.relation.journal Advanced Robotics tr_TR
dc.contributor.authorID 108608 tr_TR
dc.identifier.volume 28 tr_TR
dc.identifier.issue 18 tr_TR
dc.identifier.startpage 1221 tr_TR
dc.identifier.endpage 1230 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü tr_TR


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