Design and control of a 3 DOF in-parallel actuated manipulator

George H. Pfreundschuh, Vijay Kumar, Thomas G. Sugar

Research output: Contribution to journalConference articlepeer-review

38 Scopus citations


The mechanics, design, control, and experimental results for a 3-DOF (degree-of-freedom) in-parallel, pneumatically actuated manipulator are presented. The manipulator consists of two platforms connected by three serial chains. It is naturally compliant in translation along the approach direction as well as in rotations about axes perpendicular to the approach direction, while it is stiff in other directions. The kinematic design allows the three relative DOF between the two plates of the manipulator to accommodate uncertainties and sustain impacts while contacting and interacting with unknown environments. Experimental results show that, with a sampling rate of 100 Hz, the position control bandwidth of a single actuator servo system is 11 Hz, while the force control bandwidth is 10 Hz. These figures also reflect the bandwidth and the performance of the complete system.

Original languageEnglish (US)
Pages (from-to)1659-1664
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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