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
收藏
页码：553 / 561
页数：9
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