A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications. Kock, S. & Schumacher, W. In Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), volume 3, pages 2295–2300 vol.3, May, 1998.
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A 2-DOF parallel manipulator with actuation redundancy is examined for high-speed and stiffness-controlled operation. Advantages of actuation redundancy are outlined. The kinematics and singularity-free workspace of the manipulator are presented together with a force transmission analysis. Finally, a novel control scheme that guarantees a lower bound of the end-effector stiffness (LBSC) is presented. Simulation results are compared with a traditional control scheme for high-speed applications using the minimal 2-norm of actuator torques
@inproceedings{kock_parallel_1998,
	title = {A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications},
	volume = {3},
	doi = {10.1109/ROBOT.1998.680665},
	abstract = {A 2-DOF parallel manipulator with actuation redundancy is examined for high-speed and stiffness-controlled operation. Advantages of actuation redundancy are outlined. The kinematics and singularity-free workspace of the manipulator are presented together with a force transmission analysis. Finally, a novel control scheme that guarantees a lower bound of the end-effector stiffness (LBSC) is presented. Simulation results are compared with a traditional control scheme for high-speed applications using the minimal 2-norm of actuator torques},
	booktitle = {Proceedings. 1998 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({Cat}. {No}.98CH36146)},
	author = {Kock, S. and Schumacher, W.},
	month = may,
	year = {1998},
	keywords = {2-DOF parallel manipulator, Control engineering, Haptic interfaces, Jacobian matrices, Leg, Parallel robots, Torque control, Uncertainty, active-stiffness, actuation redundancy, actuators, force control, force transmission analysis, kinematics, manipulator kinematics, manipulators, minimal 2-norm, parallel x-y manipulator, redundancy, singularity-free workspace, stiffness-controlled operation, to cite},
	pages = {2295--2300 vol.3}
}

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