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Force redundant mechanism is adopted to achieve high acceleration. However, utilizing the good velocity control performance of servo motor to achieve a high positional accuracy will arise excessive big internal forces. Therefore, an idea of introducing kinematical redundancy into force redundant parallel mechanism is proposed. In this idea, we do not add kinematical redundancy on the sub arm but introduce...
This paper proposes impedance control of redundant drive joints with double actuation (RDJ-DA) to produce compliant motions with the future goal of higher bandwidth. First, to reduce joint inertia, a double-input-single-output mechanism with one internal degree of freedom (DOF) is presented as part of the basic structure of the RDJ-DA. Next, the basic structure of RDJ-DA is further explained and its...
We aim to design a mechanism with high acceleration and high accuracy. Force redundant mechanism is designed to realize these requirements. However, big excessive internal forces will arise if all the joints adopt position control scheme for upper controller and velocity control scheme for servo motor to achieve a high accuracy. Therefore, an idea of introducing kinematic redundancy into force redundant...
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