On the spatial impedance control of Gough-Stewart platforms

Looks at the control of mechanical impedance of the so-called Gough-Stewart class of parallel platforms. Two methods of compliance control are presented. One is based on global potential energy functions that have previously been applied to controlling serial manipulators and electrodynamically levi...

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Bibliographic Details
Main Authors: Fasse, E.D., Gosselin, C.M.
Format: Conference Proceeding
Language:English
Subjects:
Aerospace control
Aerospace engineering
Aerospace simulation
Damping
Fasteners
Force control
Haptic interfaces
Impedance
Motion control
Quaternions
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Summary:Looks at the control of mechanical impedance of the so-called Gough-Stewart class of parallel platforms. Two methods of compliance control are presented. One is based on global potential energy functions that have previously been applied to controlling serial manipulators and electrodynamically levitated platforms. The second uses the exponential map to associate finite displacements of the platform from equilibrium with screw displacements. Compliant wrenches are then proportional to the screw displacements. Control of spatial damping is addressed as well, justifying the classification as impedance control. Control algorithms and simulation results are given.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1998.677419