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Torque Distribution Control of 3RRR Redundant Parallel Robot  

Lee, Sang-Moon (영남대학교 기계공학부)
Lee, Jeh-Won (영남대학교 기계공학부)
Shim, Ho-Seok (영남대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.2, 2008 , pp. 72-79 More about this Journal
Abstract
In the redundant actuation system which has more actuators than a system's mobility, there are various method to determine actuated torques because those are not determined uniquely. This paper presents a torque distribution method using weighted-pseudoinverse to optimize the maximum torque of various actuated inputs of the redundant system. The various weighting factor of weighted-pseudoinverse is studied to reduce maximum actuated torque. This method is experimentally applied to 3RRR parallel robot, which shows that presented method can efficiently reduce the maximum actuated torque.
Keywords
Redundant actuation; Torque distribution; Weighting factor; Minimum norm torque; Weighted pseudoinverse;
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