Inverse dynamics control of parallel manipulators around singular configurations

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2008

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Özdemir, Mustafa

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In this thesis, a technique for the motion of parallel manipulators through drive singularities is investigated. To remedy the problem of unbounded inverse dynamics solution in the neighborhood of drive singularities, an inverse dynamics controller which uses a conventional inverse dynamics control law outside the neighborhood of singularities and switches to the mode based on the formerly derived modified equations inside the neighborhood of singularities is proposed. As a result, good tracking performance is obtained while the actuator forces remain within the saturation limits of the actuators around singular configurations.

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http://etd.lib.metu.edu.tr/upload/3/12609212/index.pdf
https://hdl.handle.net/11511/17452

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

M. Özdemir, “Inverse dynamics control of parallel manipulators around singular configurations,” M.S. - Master of Science, Middle East Technical University, 2008.