Matches in SemOpenAlex for { <https://semopenalex.org/work/W2118632348> ?p ?o ?g. }
- W2118632348 endingPage "1106" @default.
- W2118632348 startingPage "1088" @default.
- W2118632348 abstract "An overwhelming controller provides robustness against uncertain parameters, disturbances and un-modelled dynamics. A simplified inverse dynamics model is used in the present paper to develop an overwhelming controller for a parallel manipulator (a Stewart platform), where the controller accommodates modelling uncertainties such as the simplifications made for development of the inverse model in order to improve the computational efficiency. Such a control strategy leads to good trajectory tracking accuracy in the presence of unknown disturbances. However, in addition to trajectory tracking performance, the controller for a Stewart platform should also be able to control or limit the interaction forces in applications such as robot assisted surgery and low-impact docking. The environmental forces can be accommodated during the interaction period by modulating the impedance at the interface of manipulator and environment through virtual flexible foundations. The positional error induced during the force control phase can be recovered during the free flight or idle phase. While this approach has been used successfully in the past to control serial manipulators, the closed loop kinematic architecture in a parallel manipulator introduces many difficulties. This paper proposes a modified overwhelming control scheme for parallel manipulators with compensations for interaction force control and positional error recovery. Bond graph modelling is used as an integrated model and controller development tool. Force controlled machining on a spherical surface, which is akin to a surgical operation, is considered as an example application of the developed control strategy. The simulation results from the bond graph model of the controlled Stewart platform are presented to demonstrate the performance of the developed hybrid position force controller." @default.
- W2118632348 created "2016-06-24" @default.
- W2118632348 creator A5054043779 @default.
- W2118632348 creator A5061984641 @default.
- W2118632348 creator A5064837867 @default.
- W2118632348 creator A5082638902 @default.
- W2118632348 date "2012-05-14" @default.
- W2118632348 modified "2023-09-23" @default.
- W2118632348 title "Force control in a parallel manipulator through virtual foundations" @default.
- W2118632348 cites W1967377907 @default.
- W2118632348 cites W1973611745 @default.
- W2118632348 cites W1977286257 @default.
- W2118632348 cites W1989105128 @default.
- W2118632348 cites W1991649480 @default.
- W2118632348 cites W1997717396 @default.
- W2118632348 cites W1999655327 @default.
- W2118632348 cites W2001506564 @default.
- W2118632348 cites W2001951001 @default.
- W2118632348 cites W2013262109 @default.
- W2118632348 cites W2013625418 @default.
- W2118632348 cites W2016958754 @default.
- W2118632348 cites W2022848542 @default.
- W2118632348 cites W2034009885 @default.
- W2118632348 cites W2044789029 @default.
- W2118632348 cites W2045115626 @default.
- W2118632348 cites W2048616641 @default.
- W2118632348 cites W2053411443 @default.
- W2118632348 cites W2062805010 @default.
- W2118632348 cites W2063665072 @default.
- W2118632348 cites W2064071544 @default.
- W2118632348 cites W2067511440 @default.
- W2118632348 cites W2068977845 @default.
- W2118632348 cites W2075835575 @default.
- W2118632348 cites W2077129956 @default.
- W2118632348 cites W2086977848 @default.
- W2118632348 cites W2088100921 @default.
- W2118632348 cites W2092957606 @default.
- W2118632348 cites W2095646014 @default.
- W2118632348 cites W2096106931 @default.
- W2118632348 cites W2097983667 @default.
- W2118632348 cites W2105360813 @default.
- W2118632348 cites W2112474089 @default.
- W2118632348 cites W2128682571 @default.
- W2118632348 cites W2129557561 @default.
- W2118632348 cites W2134337011 @default.
- W2118632348 cites W2140139660 @default.
- W2118632348 cites W2154704397 @default.
- W2118632348 cites W2166211466 @default.
- W2118632348 cites W2169015737 @default.
- W2118632348 cites W2170238328 @default.
- W2118632348 cites W2487628251 @default.
- W2118632348 cites W4240474317 @default.
- W2118632348 cites W4255926580 @default.
- W2118632348 cites W59392582 @default.
- W2118632348 doi "https://doi.org/10.1177/0959651812442604" @default.
- W2118632348 hasPublicationYear "2012" @default.
- W2118632348 type Work @default.
- W2118632348 sameAs 2118632348 @default.
- W2118632348 citedByCount "5" @default.
- W2118632348 countsByYear W21186323482012 @default.
- W2118632348 countsByYear W21186323482013 @default.
- W2118632348 countsByYear W21186323482017 @default.
- W2118632348 countsByYear W21186323482020 @default.
- W2118632348 countsByYear W21186323482021 @default.
- W2118632348 crossrefType "journal-article" @default.
- W2118632348 hasAuthorship W2118632348A5054043779 @default.
- W2118632348 hasAuthorship W2118632348A5061984641 @default.
- W2118632348 hasAuthorship W2118632348A5064837867 @default.
- W2118632348 hasAuthorship W2118632348A5082638902 @default.
- W2118632348 hasConcept C104317684 @default.
- W2118632348 hasConcept C114614502 @default.
- W2118632348 hasConcept C121332964 @default.
- W2118632348 hasConcept C127413603 @default.
- W2118632348 hasConcept C1276947 @default.
- W2118632348 hasConcept C133731056 @default.
- W2118632348 hasConcept C13662910 @default.
- W2118632348 hasConcept C138094506 @default.
- W2118632348 hasConcept C154945302 @default.
- W2118632348 hasConcept C185592680 @default.
- W2118632348 hasConcept C187523126 @default.
- W2118632348 hasConcept C187593909 @default.
- W2118632348 hasConcept C203479927 @default.
- W2118632348 hasConcept C2775924081 @default.
- W2118632348 hasConcept C2777984285 @default.
- W2118632348 hasConcept C33923547 @default.
- W2118632348 hasConcept C39920418 @default.
- W2118632348 hasConcept C41008148 @default.
- W2118632348 hasConcept C44154836 @default.
- W2118632348 hasConcept C47446073 @default.
- W2118632348 hasConcept C55493867 @default.
- W2118632348 hasConcept C63479239 @default.
- W2118632348 hasConcept C6557445 @default.
- W2118632348 hasConcept C69769044 @default.
- W2118632348 hasConcept C74650414 @default.
- W2118632348 hasConcept C86803240 @default.
- W2118632348 hasConcept C90509273 @default.
- W2118632348 hasConceptScore W2118632348C104317684 @default.
- W2118632348 hasConceptScore W2118632348C114614502 @default.