Whole-Body Control of Series-Parallel Hybrid Robots
Dennis Mronga,Shivesh Kumar,Frank Kirchner,Dennis Mronga,Shivesh Kumar,Frank Kirchner
Parallel mechanisms are becoming increasingly popular as subsystems in various robots due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial connection of parallel subsystems leads to series-parallel hybrid robots, which are more difficult to model and control than serial or tree-type systems. At the same time, Whole-Body Control (WBC) has become the method of...
