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

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