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This paper describes a new control method for a redundant parallel manipulator using an internal force sensor. In conventional control methods of a redundant parallel manipulator, optimal torque minimized actuator torque or maximized manipulability by using evaluation function is decided and used. However, these methods have to use a torque controlled actuator. It's torque is small, also it is expensive. So, we propose a new control method using a conventional geared actuator in this paper. In our method, internal forces produced by actuator redundancy is detected by an internal force sensor and controlled to be zero. We demonstrate about the proposed control system and the structure, the principle, and the experimental result of the redundant parallel manipulator using the internal force sensor.

A Control Algorithm of a Redundant Parallel Manipulator by an Internal Force Sensor