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Dynamics and Optimized Torque Distribution Based Force/position Hybrid Control of a 4-DOF Redundantly Actuated Parallel Robot with Two Point-contact Constraints

Haiying Wen, Ming Cong, Guifei Wang, Wenlong Qin, Wei Xu, Zhisheng Zhang

Year: 2019
Citations: 20

Keywords

Control theory (sociology)Inverse dynamicsTorqueContact forceKinematicsComputer scienceTrajectoryPosition (finance)Inverse kinematicsRobot

Dynamics and Optimized Torque Distribution Based Force/position Hybrid Control of a 4-DOF Redundantly Actuated Parallel Robot with Two Point-contact Constraints

Keywords

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