{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T11:53:34Z","timestamp":1762430014079,"version":"3.41.2"},"reference-count":19,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2005,6,1]],"date-time":"2005-06-01T00:00:00Z","timestamp":1117584000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2005,6,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Aims to discuss how impedance\u2010controlled parallel robots can effectively perform industrial assembly tasks.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A new purely translational parallel robot has been designed to fulfil the requirements of industrial assembly tasks. The kinematic and dynamic models of the robot have been obtained in analytic form. A full\u2010scale prototype has been realized within the Italian research programme PRIDE (Parallel Robots Interacting with Dynamic Environments). An impedance control algorithm based on the kinematic and dynamic models has been implemented on the control unit of the PRIDE prototype. The effectiveness of the impedance\u2010controlled PKM has been evaluated performing the assembly of white goods components.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The test results show that the combined use of impedance control and dynamic compensation applied to parallel kinematics machines allows to reduce remarkably the operational time compared to the currently used position\u2010controlled industrial robots.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The experimental tests on the PRIDE prototype show the overall industrial feasibility of impedance\u2010controlled parallel kinematics machines.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The introduction of impedance\u2010controlled PKMs may improve, with a relatively low cost, the level of automation of several production plants in which delicate operations requiring force control are still executed manually.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>While there is a large number of existing position\u2010controlled PKMs, the experimental research about force\u2010controlled or impedance\u2010controlled PKMs is not widespread.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910510593910","type":"journal-article","created":{"date-parts":[[2005,5,31]],"date-time":"2005-05-31T20:02:59Z","timestamp":1117569779000},"page":"226-233","source":"Crossref","is-referenced-by-count":22,"title":["An impedance\u2010controlled parallel robot for high\u2010speed assembly of white goods"],"prefix":"10.1108","volume":"32","author":[{"given":"L.E.","family":"Bruzzone","sequence":"first","affiliation":[]},{"given":"R.M.","family":"Molfino","sequence":"additional","affiliation":[]},{"given":"M.","family":"Zoppi","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012920224976900_b1","unstructured":"Bruzzone, L.E., Molfino, R.M. and Zoppi, M. (2002), \u201cA cost\u2010effective purely translational parallel robot for rapid assembly tasks\u201d, Proc. Conf. on Development Methods and Application Experience of Parallel Kinematics, 3rd Chemnitz Parallel Kinematics Seminar, 2002 Parallel Kinematic Machines Intl. Conf, 2nd NCG Application Conference on Parallel Kinematic Machines, pp. 429\u201040."},{"key":"key2022012920224976900_b2","doi-asserted-by":"crossref","unstructured":"Carretero, J.A., Podhorodeski, R.P., Nahon, M.A. and Gosselin, C.M. (2000), \u201cKinematic analysis and optimization of a new three degree\u2010of\u2010freedom spatial parallel manipulator\u201d, J. Mech. Des., Vol. 122, pp. 17\u201024.","DOI":"10.1115\/1.533542"},{"key":"key2022012920224976900_b3","unstructured":"Clavel, R. (1989), \u201cUne nouvelle structure de manipulateur parall\u00e8le pour la robotique l\u00e9g\u00e8re\u201d, APII, Vol. 23 No. 6, pp. 501\u201019."},{"key":"key2022012920224976900_b4","doi-asserted-by":"crossref","unstructured":"DiGregorio, R. (2002), \u201cTranslational parallel manipulators: new proposals\u201d, J. Robotics Sys., Vol. 19 No. 12, pp. 595\u2010603.","DOI":"10.1002\/rob.10063"},{"key":"key2022012920224976900_b5","doi-asserted-by":"crossref","unstructured":"Gopalakrishnan, V., Fedewa, D., Mehrabi, M., Kota, S. and Orlandea, N. (2002), \u201cParallel structures and their applications in reconfigurable machining systems\u201d, J. Manufacturing Sci. and Eng., Vol. 124, pp. 483\u20105.","DOI":"10.1115\/1.1459468"},{"key":"key2022012920224976900_b6","doi-asserted-by":"crossref","unstructured":"Hogan, N. (1985), \u201cImpedance control: an approach to manipulation. Part I\u2010II\u2010III\u201d, ASME J. Dyn. Syst. Meas. Contr., Vol. 107, pp. 1\u201024.","DOI":"10.1115\/1.3140701"},{"key":"key2022012920224976900_b7","doi-asserted-by":"crossref","unstructured":"Kazerooni, H., Sheridan, T.B. and Houpt, P.K. (1986), \u201cRobust compliant motion for manipulators. Part 1: the fundamental concept of compliant motion\u201d, IEEE J. of Robotics and Automation, RA, Vol. 2 No. 2, pp. 83\u201092.","DOI":"10.1109\/JRA.1986.1087045"},{"key":"key2022012920224976900_b8","unstructured":"Kozlowski, D., Stoughton, R., Newman, W.S. and Hebbar, R. (2001), \u201cAutomated force controlled assembly utilizing a novel hexapod robotic manipulator\u201d, Proc. IEEE Int. Conf. on Robotics and Automation."},{"key":"key2022012920224976900_b9","doi-asserted-by":"crossref","unstructured":"Liu, X.J., Wang, J., Gao, F. and Wang, L.P. (2001), \u201cOn the analysis of a new spatial three degree\u2010of\u2010freedom parallel manipulator\u201d, IEEE Trans. on Robotics and Automation, Vol. 17 No. 6, pp. 959\u201068.","DOI":"10.1109\/70.976031"},{"key":"key2022012920224976900_b10","doi-asserted-by":"crossref","unstructured":"Merlet, J.P. (1988), \u201cForce\u2010feedback control of parallel manipulators\u201d, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1484\u20109.","DOI":"10.1109\/ROBOT.1988.12277"},{"key":"key2022012920224976900_b11","unstructured":"Miller, K. and Clavel, R. (1992), \u201cThe Lagrange\u2010based model of Delta\u20104 robot dynamics\u201d, Robotersysteme, Vol. 8, pp. 49\u201054."},{"key":"key2022012920224976900_b12","unstructured":"Molfino, R.M., Bruzzone, L.E. and Razzoli, R.P. (2002), \u201cModular assembly systems: the SPI 3 research programme\u201d, Proc. 33rd Int. Symp. on Robotics, CD\u2010ROM."},{"key":"key2022012920224976900_b13","doi-asserted-by":"crossref","unstructured":"Park, J.H. and Cho, H.C. (1998), \u201cImpedance control with varying stiffness for parallel\u2010link manipulators\u201d, Proc. American Control Conf., pp. 478\u201082.","DOI":"10.1109\/ACC.1998.694714"},{"key":"key2022012920224976900_b14","unstructured":"Paul, R.P. and Shimano, B. (1976), \u201cCompliance control\u201d, Proc. Joint Automatic Control Conf., Purdue University, West Lafayette, IN."},{"key":"key2022012920224976900_b15","doi-asserted-by":"crossref","unstructured":"Siciliano, B. and Villani, L. (1999), Robot Force Control, Kluwer Academic Publishers, Boston, MA.","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"key2022012920224976900_b16","unstructured":"Stewrnheim, F. (1987), \u201cComputation of the direct and inverse geometric models of the DELTA\u20104 parallel robot\u201d, Robotersysteme, Vol. 3, pp. 199\u2010203."},{"key":"key2022012920224976900_b17","doi-asserted-by":"crossref","unstructured":"Sugar, T.G. and Kumar, V. (2002), \u201cDesign and control of a compliant parallel manipulator\u201d, J. Mech. Des., Vol. 124, pp. 676\u201083.","DOI":"10.1115\/1.1517568"},{"key":"key2022012920224976900_b18","doi-asserted-by":"crossref","unstructured":"Vischer, P. and Clavel, R. (2000), \u201cArgos: a Novel 3\u2010DoF parallel wrist mechanism\u201d, Int. J. of Robotics Research, Vol. 19 No. 1, pp. 5\u201011.","DOI":"10.1177\/02783640022066707"},{"key":"key2022012920224976900_b19","doi-asserted-by":"crossref","unstructured":"Zoppi, M., Bruzzone, L.E., Molfino, R.M. and Michelini, R.C. (2004), \u201cPosition analysis of a class of translational parallel mechanisms\u201d, Int. J. Robotics and Automation, Vol. 19 No. 3, pp. 111\u20106.","DOI":"10.2316\/Journal.206.2004.3.206-2728"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910510593910","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910510593910\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910510593910\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:49:53Z","timestamp":1753400993000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/32\/3\/226-233\/180044"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,6,1]]},"references-count":19,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2005,6,1]]}},"alternative-id":["10.1108\/01439910510593910"],"URL":"https:\/\/doi.org\/10.1108\/01439910510593910","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2005,6,1]]}}}