Force Control of Parallel Link Manipulator.

We propose a force control algorithm for a Stewart Platform parallel link manipulators. First, we design a control scheme for a one degree-of-freedom hydraulic actuator, then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for the parallel link manipulator is also proposed. The control scheme design is based on a velocity based force control algorithm so that we can use velocity-controlled hydraulic actuators as parallel link manipulators. The proposed algorithm is applied to an experimental system and the results illustrate the validity of the system.