Hybrid Position/Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

被引：1

作者：

Kraus, Werner ^{[1
]}

Miermeister, Philipp ^{[1
]}

Schmidt, Valentin ^{[1
]}

Pott, Andreas ^{[1
]}

机构：

[1] Fraunhofer Inst Mfg Engn & Automat IPA, Stuttgart, Germany

来源：

NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS | 2015年 / 24卷

关键词：

Cable robot; Parallel robot; Force control; Redundant robot; Contact control;

D O I：

10.1007/978-3-319-09411-3_59

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

For cable-driven parallel robots elastic cables are used to manipulate the end-effector in the workspace. In this paper we present a hybrid position/force control which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the end-effector during movement. The performance of the controller is experimentally presented regarding contact establishment and dynamic behaviour during a motion on the cable robot IPAnema 3.

引用

页码：553 / 561

页数：9

共 50 条

[31] Modeling and Control of a Cable-Driven Parallel Robot Allowing Cable-edge Collisions
Hu, Yusheng
Zou, Yongwei
Cao, Huanhui
Lu, Wenjie
Xiong, Hao
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022), 2022, : 483 - 487
[32] Haptic Interface for Virtual Reality based on Hybrid Cable-Driven Parallel Robot
Poitrimol, Bastien
Igarashi, Hiroshi
2020 IEEE 16TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2020, : 351 - 356
[33] 6-DOF Hybrid Cable-Driven Parallel Robot with an Articulated Manipulator
Sakurai, Shunichi
Katsura, Seiichiro
2024 33RD INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, ISIE 2024, 2024,
[34] A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue
Ennaiem, Ferdaws
Chaker, Abdelbadia
Sandoval, Juan
Mlika, Abdelfattah
Romdhane, Lotfi
Bennour, Sami
Zeghloul, Said
Laribi, Med Amine
ROBOTICA, 2023, 41 (03) : 850 - 868
[35] Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot
Ghanbari, Masoud
Mousavi, Mohammad Reza
Moosavian, S. Ali A.
Nasr, Ali
Zarafshan, Payam
2017 5TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2017), 2017, : 33 - 38
[36] Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot
Ghanbari, Masoud
Mousavi, Mohammad Reza
Moosavian, S. Ali A.
Nasr, Ali
Zarafshan, Payam
2017 5TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2017), 2017, : 304 - 309
[37] Cable-Driven Parallel Robot for Warehouse Monitoring Tasks
Zargari, Armaun
Castrejon, Zahir Abram
Kim, Dongbin
Oh, Paul Y.
2023 IEEE 13TH ANNUAL COMPUTING AND COMMUNICATION WORKSHOP AND CONFERENCE, CCWC, 2023, : 1085 - 1090
[38] Design of a cable-driven parallel robot for landmine detection
Jomartov, Assylbek
Tuleshov, Amandyk
Kamal, Aziz
Abduraimov, Azizbek
SN APPLIED SCIENCES, 2023, 5 (11):
[39] Design of a cable-driven parallel robot for landmine detection
Assylbek Jomartov
Amandyk Tuleshov
Aziz Kamal
Azizbek Abduraimov
SN Applied Sciences, 2023, 5
[40] Simulation of suspended cable-driven parallel robot on SimulationX
Jomartov, Assylbek
Tuleshov, Amandyk
Kamal, Aziz
Abduraimov, Azizbek
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2023, 20 (02)

← 1 2 3 4 5 →