On PD control of parallel robots with redundant actuation

摘要

.4bsfract- In this work two Proportional Derivative ControIlers applied to redundantly actuated parallei robots are proposed. A depart from current approaches is the fact that damping is added at the joint level using the robot active joints. The first control law employs velocity measurements from the robot active joints. The second control law removes the above condition through the use of a velocity estimator fed with active joint position measuremenkClosed loop stabilig is studied using Lyapunov Stability Theory.