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Proceedings Paper

Control of parallel mechanism with redundant actuators and non-redundant actuators
Author(s): Tatsuro Hino; Michihiro Kawanishi; Hiroshi Kanki; Tatsuo Narikiyo
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Paper Abstract

In parallel mechanisms with redundant actuators, actuator forces are underspecified because of redundancy. In this paper, the method to minimize a maximum actuator force was proposed. At first, parallel mechanism with two redundant actuators and Stewart platform model using the linear shaft motor were developed. This redundant parallel mechanism was consists of Stewart platform and additional 2 redundant actuators. Inverse dynamics of each mechanisms were formulated. Secondly, effectiveness of dynamic control of Stewart platform was experimentally confirmed. Finally, the method to minimize a maximum actuator force using Linear Matrix Inequality (LMI) was proposed. And the effectiveness of the proposed method was confirmed by simulation.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942X (9 January 2008); doi: 10.1117/12.784508
Show Author Affiliations
Tatsuro Hino, Kobe Univ. (Japan)
Michihiro Kawanishi, Toyota Technological Institute (Japan)
Hiroshi Kanki, Kobe Univ. (Japan)
Tatsuo Narikiyo, Toyota Technological Institute (Japan)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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