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Journal of Mechanical Science and Technology

, Volume 34, Issue 1, pp 359–367 | Cite as

Impedance control of three dimensional hybrid manipulator

  • Rashmi AroraEmail author
  • Tarun K. Bera
Original Article
  • 12 Downloads

Abstract

The hybrid manipulators are always found to be of great use in industries due to the major shortcoming of serial manipulators (lesser accuracy and heavy structure) and parallel manipulators (small workspace). Henceforth, a three-dimensional hybrid manipulator is presented in this paper and this hybrid manipulator connects two parallel manipulators in a serial arrangement. Afterwards, the theory of impedance control with some changes is applied for an operation on a three dimensional L-shaped path having some restrictions imposed on the interactive forces when the manipulator is interacting with an object in its environment along with an approach to eliminate amnesia i.e. difference between the actual trajectory and the command trajectory. The overwhelming controller is used between the actual system and the inverse controller. It is observed from the result that there is always some amnesia during force control and some time is provided before the next phase of force control to remove this difference in trajectory.

Keywords

Amnesia Hybrid manipulator Impedance control Overwhelming controller Trajectory 

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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Mechanical Engineering DepartmentChandigarh UniversityMohaliIndia
  2. 2.Mechanical Engineering DepartmentThapar Institute of Engineering and TechnologyPatialaIndia

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