Abstract
In this study, the parallel link consists of three electrohydraulic servo cylinders which can realize arbitrary motion in a plane having a large output force and torque by a simple structure. Applying the compliance control method to this mechanism, it is possible to control the three-dimensional position of the end effector under a free motion condition and the output force and torque under a blocked motion condition, which are proportional to the position error signals in each direction. Applying the state feedback control method to this system, it is possible to realize desired dynamic characteristics of the displacement control subsystem and the compliance control subsystem independently without their interaction. The static and dynamic characteristics of the system are shown experimentally.
