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A simplified inverse dynamics model is used in the present paper to develop an overwhelming controller for a parallel manipulator (a Stewart platform), where the controller accommodates modelling uncertainties such as the simplifications made for development of the inverse model in order to improve the computational efficiency. Such a control strategy leads to good trajectory tracking accuracy in the presence of unknown disturbances. However, in addition to trajectory tracking performance, the controller for a Stewart platform should also be able to control or limit the interaction forces in applications such as robot assisted surgery and low-impact docking. The environmental forces can be accommodated during the interaction period by modulating the impedance at the interface of manipulator and environment through virtual flexible foundations. The positional error induced during the force control phase can be recovered during the free flight or idle phase. While this approach has been used successfully in the past to control serial manipulators, the closed loop kinematic architecture in a parallel manipulator introduces many difficulties. This paper proposes a modified overwhelming control scheme for parallel manipulators with compensations for interaction force control and positional error recovery. Bond graph modelling is used as an integrated model and controller development tool. Force controlled machining on a spherical surface, which is akin to a surgical operation, is considered as an example application of the developed control strategy. The simulation results from the bond graph model of the controlled Stewart platform are presented to demonstrate the performance of the developed hybrid position force controller. <\/jats:p>","DOI":"10.1177\/0959651812442604","type":"journal-article","created":{"date-parts":[[2012,5,15]],"date-time":"2012-05-15T04:49:54Z","timestamp":1337057394000},"page":"1088-1106","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":8,"title":["Force control in a parallel manipulator through virtual foundations"],"prefix":"10.1177","volume":"226","author":[{"given":"Tarun Kumar","family":"Bera","sequence":"first","affiliation":[{"name":"LAGIS, Polytech\u2019Lille, France"}]},{"given":"Rochdi","family":"Merzouki","sequence":"additional","affiliation":[{"name":"LAGIS, Polytech\u2019Lille, France"}]},{"given":"Belkacem","family":"Ould Bouamama","sequence":"additional","affiliation":[{"name":"LAGIS, Polytech\u2019Lille, France"}]},{"given":"Arun Kumar","family":"Samantaray","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Indian Institute of Technology, India"}]}],"member":"179","published-online":{"date-parts":[[2012,5,14]]},"reference":[{"key":"bibr1-0959651812442604","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"bibr2-0959651812442604","first-page":"117","volume-title":"Proceedings of the ninth international technology congress FISITA","author":"Gough VE"},{"key":"bibr3-0959651812442604","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500216"},{"key":"bibr4-0959651812442604","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(99)00006-3"},{"key":"bibr5-0959651812442604","first-page":"1","volume-title":"Proceedings of the 2010 IEEE international conference on world automation congress (WAC)","author":"Takaiwa M"},{"key":"bibr6-0959651812442604","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20039"},{"issue":"4","key":"bibr7-0959651812442604","first-page":"269","volume":"19","author":"Tsai TC","year":"2007","journal-title":"Biomed Eng"},{"key":"bibr8-0959651812442604","first-page":"3531","volume-title":"Proceedings of the 2007 IEEE International conference on mechatronics and automation (ICMA 2007)","author":"Zhao H"},{"key":"bibr9-0959651812442604","first-page":"1","volume-title":"IEEE CSS\/RAS international workshop on control problems in robotics and automation: future directions","author":"DeSchutter J"},{"key":"bibr10-0959651812442604","volume-title":"Robot force control","author":"Siciliano B","year":"2000"},{"key":"bibr11-0959651812442604","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"bibr12-0959651812442604","doi-asserted-by":"publisher","DOI":"10.1109\/56.20440"},{"key":"bibr13-0959651812442604","volume-title":"11th Mediterranean conference on control and automation","author":"Assuncao V"},{"key":"bibr14-0959651812442604","doi-asserted-by":"crossref","unstructured":"Takaiwa M, Noritsugu T. 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