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Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators. / Ma, Nan; Cheneler, David; He, Guangping et al.
In: IEEE Transactions on Human-Machine Systems, 18.04.2025, p. 1-10.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Ma, N, Cheneler, D, He, G, Yuan, J & Bian, G-B 2025, 'Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators', IEEE Transactions on Human-Machine Systems, pp. 1-10. https://doi.org/10.1109/thms.2025.3550919

APA

Ma, N., Cheneler, D., He, G., Yuan, J., & Bian, G.-B. (2025). Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators. IEEE Transactions on Human-Machine Systems, 1-10. Advance online publication. https://doi.org/10.1109/thms.2025.3550919

Vancouver

Ma N, Cheneler D, He G, Yuan J, Bian GB. Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators. IEEE Transactions on Human-Machine Systems. 2025 Apr 18;1-10. Epub 2025 Apr 18. doi: 10.1109/thms.2025.3550919

Author

Ma, Nan ; Cheneler, David ; He, Guangping et al. / Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators. In: IEEE Transactions on Human-Machine Systems. 2025 ; pp. 1-10.

Bibtex

@article{57590f092fd84ad9ac458e093e9a721c,
title = "Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators",
abstract = "Redundantly actuated parallel mechanisms (RAPMs) have been widely adopted in advanced robotic systems and precision machine tools. It has been demonstrated that redundant actuation can improve the performance of mechatronic systems but introduce challenges with respect to control. One main difficulty is in establishing an accurate dynamic model of the RAPM system. With an inaccurate dynamic model, the torque applied by the actuators will be incorrect, leading to increased antagonistic forces in the system. To solve this problem, a novel coordinated adaptive impedance control approach based on a new adaptive impedance control law is presented here, along with proof of the stability of the closed-loop system. The control algorithm has been validated experimentally by a prototype cable-driven parallel manipulator. It can be seen from the experimental results that the proposed control method is an effective way to correct the antagonistic forces of the system, thus facilitating the improvement of its dynamic performance and its efficacy in different applications.",
author = "Nan Ma and David Cheneler and Guangping He and Junjie Yuan and Gui-Bin Bian",
year = "2025",
month = apr,
day = "18",
doi = "10.1109/thms.2025.3550919",
language = "English",
pages = "1--10",
journal = "IEEE Transactions on Human-Machine Systems",
issn = "2168-2291",
publisher = "IEEE Systems, Man, and Cybernetics Society",

}

RIS

TY - JOUR

T1 - Coordinated Adaptive Impedance Control of Redundantly Actuated Parallel Manipulators

AU - Ma, Nan

AU - Cheneler, David

AU - He, Guangping

AU - Yuan, Junjie

AU - Bian, Gui-Bin

PY - 2025/4/18

Y1 - 2025/4/18

N2 - Redundantly actuated parallel mechanisms (RAPMs) have been widely adopted in advanced robotic systems and precision machine tools. It has been demonstrated that redundant actuation can improve the performance of mechatronic systems but introduce challenges with respect to control. One main difficulty is in establishing an accurate dynamic model of the RAPM system. With an inaccurate dynamic model, the torque applied by the actuators will be incorrect, leading to increased antagonistic forces in the system. To solve this problem, a novel coordinated adaptive impedance control approach based on a new adaptive impedance control law is presented here, along with proof of the stability of the closed-loop system. The control algorithm has been validated experimentally by a prototype cable-driven parallel manipulator. It can be seen from the experimental results that the proposed control method is an effective way to correct the antagonistic forces of the system, thus facilitating the improvement of its dynamic performance and its efficacy in different applications.

AB - Redundantly actuated parallel mechanisms (RAPMs) have been widely adopted in advanced robotic systems and precision machine tools. It has been demonstrated that redundant actuation can improve the performance of mechatronic systems but introduce challenges with respect to control. One main difficulty is in establishing an accurate dynamic model of the RAPM system. With an inaccurate dynamic model, the torque applied by the actuators will be incorrect, leading to increased antagonistic forces in the system. To solve this problem, a novel coordinated adaptive impedance control approach based on a new adaptive impedance control law is presented here, along with proof of the stability of the closed-loop system. The control algorithm has been validated experimentally by a prototype cable-driven parallel manipulator. It can be seen from the experimental results that the proposed control method is an effective way to correct the antagonistic forces of the system, thus facilitating the improvement of its dynamic performance and its efficacy in different applications.

U2 - 10.1109/thms.2025.3550919

DO - 10.1109/thms.2025.3550919

M3 - Journal article

SP - 1

EP - 10

JO - IEEE Transactions on Human-Machine Systems

JF - IEEE Transactions on Human-Machine Systems

SN - 2168-2291

ER -