Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects
This article describes an efficient and effective strategy for limiting the workspace of a six degrees of freedom parallel manipulator, with challenging motion smoothness requirements due to both the high inertia objects carried by the end effector and the pose references coming from a force feedbac...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-02-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/7/1/10 |