Integrated Force and Motion Control of Parallel Robots – Part 1: Unconstrained Space

Parallel robots in the context of handling and assembly benefit from their inherent high dynamics. However, their coupled nonlinear system dynamics demand for an effective control system in terms of accuracy, robustness and disturbance rejection. This paper presents a hybrid control scheme that is designed specifically to these features. The hierarchical approach encapsulates the robots dynamics on drive-level and, thus, provides the basis for effective real-time hybrid control. It is interfaced by a fully specified C 2-continuous trajectory, see [1] for detailed design. Force-torque control is derived and an analysis of controller performance during the transition to constrained motion presented. These modules form a unique, integrated control-scheme.