Force computation and continuous path tracking for hydraulic parallel manipulators

Machine tools, robots and parallel manipulators are useful platforms in manufacturing. For parallel manipulators, developing contour tracking ability and clarifying the role of force computation are of significance.This work presents a novel contour tracking control with force computation for hydraulic parallel manipulators. Different trajectories are used to evaluate the tracking errors on an empirical hydraulic parallel manipulator. The proposed control law and tracking systems are effective and the force computation is proven highly effective in the frame of the contour tracking system.