Abstract
Direct Compliance Control is an effective force control method for robot, especially for parallel mechanism robot. However, structural complexity of parallel mechanism and redundant actuation the DCC requires make establishment of dynamic model used for robot control very difficulty. In this paper, based on Influence Coefficient Method dynamics of parallel mechanism is deeply studied. The parallel mechanism without DCC is first investigated. Then is mechanism with DCC. The derived dynamic equations for both situations are not only easily established, but also simply expressed with mechanism's influence coefficient matrices. Therefore the dynamic algorithm can be easily realized on computer.
| Original language | English |
|---|---|
| Pages (from-to) | 1753-1758 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 2 |
| State | Published - 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - Orlando, FL, USA Duration: 12 Oct 1997 → 15 Oct 1997 |
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