Passivity-Based Control Allocation of a Redundantly-Actuated Parallel Robotic Manipulator with a Point-Mass Payload

Alex Hayes, Ryan James Caverly

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper examines the effect of control allocation on the passive input-output properties of a redundantly-actuated parallel robotic manipulator with a point-mass payload. In particular, it is shown that the mapping matrix used for control allocation is to satisfy a forward velocity kinematic constraint in order to preserve the manipulator's passive inputoutput mapping from modified control torques in task space to the velocity tracking error of the payload. A method to generate the control allocation matrix using load-sharing parameters is proposed, and is shown to have a physically intuitive relationship to the control effort of the individual actuators. A numerical example of a cable-driven parallel robot is presented, which illustrates the intuitive nature of the proposed control allocation method compared to a pseudoinverse method in the literature.

Original languageEnglish (US)
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2432-2437
Number of pages6
ISBN (Electronic)9781538682661
DOIs
StatePublished - Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
Volume2020-July
ISSN (Print)0743-1619

Conference

Conference2020 American Control Conference, ACC 2020
CountryUnited States
CityDenver
Period7/1/207/3/20

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