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

被引：10
|
作者：
Kraus, W. [1 ]
Miermeister, P. [1 ]
Schmidt, V. [1 ]
Pott, A. [1 ]
机构：
[1] Fraunhofer Inst Mfg Engn & Automat IPA Stuttgart, Stuttgart, Germany
来源：
MECHANICAL SCIENCES | 2015年 / 6卷 / 02期
关键词：
D O I：
10.5194/ms-6-119-2015
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 a mobile platform 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 platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.
引用
收藏
页码：119 / 125
页数：7
相关论文
共 50 条
  • [1] Hybrid Position/Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
    Kraus, Werner
    Miermeister, Philipp
    Schmidt, Valentin
    Pott, Andreas
    [J]. NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS, 2015, 24 : 553 - 561
  • [2] Force-Sensor-Free Implementation of a Hybrid Position-Force Control for Overconstrained Cable-Driven Parallel Robots
    Guagliumi, Luca
    Berti, Alessandro
    Monti, Eros
    Fabritius, Marc
    Martin, Christoph
    Carricato, Marco
    [J]. ROBOTICS, 2024, 13 (02)
  • [3] Dynamic Modeling of the Cable-Driven Continuum Robots in Hybrid Position-Force Actuation Mode
    Ehsani-Seresht, Abbas
    Hashemi-Pour Moosavi, Shahin
    [J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2020, 12 (05):
  • [4] Implementation of position-force and position-position teleoperator controllers with cable-driven mechanisms
    Lau, HYK
    Wai, LCC
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2005, 21 (02) : 145 - 152
  • [5] Position control of a planar cable-driven parallel robot using reinforcement learning
    Sancak, Caner
    Yamac, Fatma
    Itik, Mehmet
    [J]. ROBOTICA, 2022, 40 (10) : 3378 - 3395
  • [6] Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot
    JongPyo Jun
    Xuemei Jin
    Andreas Pott
    Sukho Park
    Jong-Oh Park
    Seong Young Ko
    [J]. International Journal of Control, Automation and Systems, 2016, 14 : 1106 - 1113
  • [7] Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot
    Jun, JongPyo
    Jin, Xuemei
    Pott, Andreas
    Park, Sukho
    Park, Jong-Oh
    Ko, Seong Young
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2016, 14 (04) : 1106 - 1113
  • [8] System Identification and Cable Force Control for a Cable-Driven Parallel Robot with Industrial Servo Drives
    Kraus, Werner
    Schmidt, Valentin
    Rajendra, Puneeth
    Pott, Andreas
    [J]. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 5921 - 5926
  • [9] Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot
    Hongseok Choi
    Jinlong Piao
    Eui-Sun Kim
    Jinwoo Jung
    Eunpyo Choi
    Jong-Oh Park
    Chang-Sei Kim
    [J]. International Journal of Control, Automation and Systems, 2020, 18 : 1792 - 1805
  • [10] Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot
    Choi, Hongseok
    Piao, Jinlong
    Kim, Eui-Sun
    Jung, Jinwoo
    Choi, Eunpyo
    Park, Jong-Oh
    Kim, Chang-Sei
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2020, 18 (07) : 1792 - 1805
12345