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| Study on the Force Control of a Spherical Parallel Robot Actuated by Pneumatic Muscle Actuators |
| FAN Wei, PENG Guang-zheng, GAO Jian-ying, NING Ru-xin |
| SMC Center, Beijing Institute of Technology, Beijing 100081, China |
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Abstract Force control of a spherical parallel mechanism actuated by pneumatic muscle actuators is studied, including the analysis of static force relationship, force control strategy and algorithm. Good force servo results are achieved. Furthermore, smooth contact is realized by the integration of passive compliance of pneumatic muscle actuators and active compliance of position transition to force control.
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Received: 24 October 2003
Published: 15 July 2004
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