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
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