Titlebook: ROMANSY 18 - Robot Design, Dynamics and Control; Proceedings of the E Vincenzo Parenti Castelli,Werner Schiehlen Conference proceedings 201

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Dynamic Hybrid Position/Force Control for Parallel Robot Manipulatorssimple compliant motion control algorithm for parallel robot manipulators is presented. Based on the concept of hybrid position/force control scheme, the task space is split into position controlled and force controlled subspaces. We designed two controllers for position and force control to track t

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Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrixnalyzing intersections of subalgebras of the Lie algebra, .(3), of the Euclidean group, .(3). Previous approaches have to analyze the kinematic chain constraints or wrench space to obtain these results. In this contribution, it is shown that properly analyzing the kinematic chain Jacobian matrix, th

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