Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic Actuators

Thomas Kordik; Hubert Gattringer; Andreas Müller

Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic Actuators

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

Introducing serial elastic actuators (SEA) into redundantly actuated parallel kinematic manipulators (RA-PKM) yields an underactuated dynamic system. Due to this underactuation the end-effector position control becomes a challenging task mainly due to the missing internal dynamics. In this paper, a flatness-based control approach is introduced as a mean to address this challenge. The proposed control method is applied to and tested in simulations on a planar PKM.

Original language	English
Title of host publication	ICRA 2022 IEEE International Conference on Robotics and Automation Workshop: "New Frontiers of parallel robotics"
Number of pages	4
Publication status	Published - May 2022

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Digital Transformation

Cite this

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title = "Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic Actuators",

abstract = "Introducing serial elastic actuators (SEA) into redundantly actuated parallel kinematic manipulators (RA-PKM) yields an underactuated dynamic system. Due to this underactuation the end-effector position control becomes a challenging task mainly due to the missing internal dynamics. In this paper, a flatness-based control approach is introduced as a mean to address this challenge. The proposed control method is applied to and tested in simulations on a planar PKM.",

author = "Thomas Kordik and Hubert Gattringer and Andreas M{\"u}ller",

year = "2022",

month = may,

language = "English",

booktitle = "ICRA 2022 IEEE International Conference on Robotics and Automation Workshop: {"}New Frontiers of parallel robotics{"}",

}

Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic Actuators. / Kordik, Thomas; Gattringer, Hubert ; Müller, Andreas.
ICRA 2022 IEEE International Conference on Robotics and Automation Workshop: "New Frontiers of parallel robotics". 2022.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

TY - GEN

T1 - Flatness-Based Control of Redundantly Actuated Parallel Manipulators with Serial Elastic Actuators

AU - Kordik, Thomas

AU - Gattringer, Hubert

AU - Müller, Andreas

PY - 2022/5

Y1 - 2022/5

N2 - Introducing serial elastic actuators (SEA) into redundantly actuated parallel kinematic manipulators (RA-PKM) yields an underactuated dynamic system. Due to this underactuation the end-effector position control becomes a challenging task mainly due to the missing internal dynamics. In this paper, a flatness-based control approach is introduced as a mean to address this challenge. The proposed control method is applied to and tested in simulations on a planar PKM.

AB - Introducing serial elastic actuators (SEA) into redundantly actuated parallel kinematic manipulators (RA-PKM) yields an underactuated dynamic system. Due to this underactuation the end-effector position control becomes a challenging task mainly due to the missing internal dynamics. In this paper, a flatness-based control approach is introduced as a mean to address this challenge. The proposed control method is applied to and tested in simulations on a planar PKM.

M3 - Conference proceedings

BT - ICRA 2022 IEEE International Conference on Robotics and Automation Workshop: "New Frontiers of parallel robotics"

ER -