Force distribution of plane 2-DOF overactuated parallel manipulator with fault tolerance

[1] Liu G F, Wu Y L. Analysis and control of redundant parallel manipulator Proceedings of the IEEE International Conference on Robotics and Automation. Seoul:IEEE Robotics and Automation Society, 2001: 3748-3754 [2] Cheng H, Yiu Y K,Li Z X. Dynamics and control of redundantly actuated parallel manipulators[J].IEEE/ASME Transaction on Mechatronics,2003,8(4):483-491 [3] Liu G F, Wu X Z ,Li Z X. Inertia equivalence principle and adaptive control of redundant parallel manipulators Proceedings of the IEEE International Conference on Robotics and Automation. Washington: IEEE Robotics and Automation Society,2002:835-840 [4] 白志富,韩先国,陈五一.基于冗余驱动的大姿态角并联机构优化设计[J]. 北京航空航天大学学报,2006,32(7):856-859 Bai Zhifu, Han Xianguo, Chen Wuyi. Optimal design of parallel mechanisms with large tilting ability based on redundant actuation[J]. Journal of Beijing University of Aeronautics and Astronautics,2006,32(7):856-859(in Chinese) [5] 罗建国,陆震.冗余驱动直角坐标串并联机构动力学对比分析[J].北京航空航天大学学报,2007,33(1):100-104 Luo Jianguo, Lu Zhen. Comparative analysis on kinetics with redundant driving of Cartesian serial-parallel manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007,33(1): 100-104 (in Chinese) [6] Loreto G, Garrido R. Stable neural PD controller for redundantly actuated parallel manipulators with uncertain Proceedings of the 44th IEEE Conference on Decision and Control,and the European Control Conference. Seville: IEEE Robotics and Automation Society,2005:2035-2040 [7] Müller A. Stiffness control of redundantly actuated parallel manipulators Proceedings of the IEEE International Conference on Robotics and Automation.Barcelona: IEEE Robotics and Automation Society,2006:1153-1158 [8] Nakamura Y, Ghodoussi M. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators[J].IEEE Transaction on Robotics and Automation,1989,5(3):294-302  [9]  Kumar V, Gardner J F. Kinematics of redundantly actuated closed chains[J].IEEE Transaction on Robotics and Automation, 1990,6(2):269-274 [10] Yi Y, McInroy J E, Chen Yixin. Fault tolerance of parallel manipulators using task space and kinematic redundancy[J]. IEEE Transaction on Robotics and Automation, 2006, 22(5): 1017-1021 [11] Yan C X, Lu Z. Research on features of faulting redundant actuation manipulator Proceedings of SPIE Sixth International Symposium on Instrumentation and Control Technology. Beijing:SPIE,2006:635758