In our previous research, we experimentally implemented and evaluated the effect of dynamics compensation in model-based control algorithms. In this paper, we evaluate the effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a de...

In this paper, telemicromanipulation systems with haptic feedback, which are connected through network, are proposed. It is based on scaled bilateral teleoperation systems between different structures. These systems are composed of an original 6 degree of freedom (DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism...

This paper presents a dynamic model of a planar parallel manipulator including structural flexibility of several linkages. The equations of motion are formulated using the Lagrangian equations of the first type and Lagrangian multipliers are introduced to represent the geometry of multiple closed loop chains. Then, an active damping approach using a PZT actuator is described to attenuate struct...

Parallel manipulators have the advantages of high stiffness and low inertia compared to serial mechanisms. Based on the Steward-Gough platform architecture, a lot of 6-DOF mechanical devices have been proposed. The 6-DOF parallel manipulators suffer from a small workspace, complex mechanical design, and difficult motion generation and control due to their complex kinematic analysis. To overcome...

It is known that a parallel manipulator at a singular configuration can gain one or more degrees of freedom and become uncontrollable, that is, it might not reproduce a stable motion along a prescribed trajectory. However, it is proved experimentally that there is possible passing through the singular zones. This was simulated and shown through numerical examples and illustrated on several para...

The aim of this study is to investigate motion in the horizontal and the vertical planes of a single-link flexible manipulator. The manipulator is modelled including gravity terms, and it is verified experimentally that the horizontal and the vertical motions are decoupled for a cylindrically symmetrical link and payload. The mathematical model is used to design a mixed-sensitivity H2 controlle...