Hybrid Position/Force Adaptive Control of Redundantly Actuated Parallel Manipulators

An adaptive hybrid position/force control approach for redundantly actuated parallel manipulators is presented. Based on the geometric properties of constraint submanifolds in parallel manipulators, the inverse dynamics of redundantly actuated parallel manipulators can be naturally projected to configuration subspace and constraint force subspace. Based on the projection equations, a unified and asymptotically stable adaptive hybrid position/force control algorithm is proposed. With the minimal two norm rule, the redundancy resolution problem is solved and the practical actuated forces are optimized. Simulation results are given to demonstrate the effectiveness of the proposed approach.