Abstract
This paper examines the effect of control allocation on the passive input-output properties of a redundantly-actuated parallel robotic manipulator with a point-mass payload. In particular, it is shown that the mapping matrix used for control allocation is to satisfy a forward velocity kinematic constraint in order to preserve the manipulator's passive inputoutput mapping from modified control torques in task space to the velocity tracking error of the payload. A method to generate the control allocation matrix using load-sharing parameters is proposed, and is shown to have a physically intuitive relationship to the control effort of the individual actuators. A numerical example of a cable-driven parallel robot is presented, which illustrates the intuitive nature of the proposed control allocation method compared to a pseudoinverse method in the literature.
Original language | English (US) |
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Title of host publication | 2020 American Control Conference, ACC 2020 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 2432-2437 |
Number of pages | 6 |
ISBN (Electronic) | 9781538682661 |
DOIs | |
State | Published - Jul 2020 |
Event | 2020 American Control Conference, ACC 2020 - Denver, United States Duration: Jul 1 2020 → Jul 3 2020 |
Publication series
Name | Proceedings of the American Control Conference |
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Volume | 2020-July |
ISSN (Print) | 0743-1619 |
Conference
Conference | 2020 American Control Conference, ACC 2020 |
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Country/Territory | United States |
City | Denver |
Period | 7/1/20 → 7/3/20 |
Bibliographical note
Publisher Copyright:© 2020 AACC.