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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

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


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2015


    Format / Umfang :

    7 pages



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Force control of cable-driven parallel robots

    Kraus, Werner | TIBKAT | 2016

    Freier Zugriff

    Force control of cable-driven parallel robots

    Kraus, Werner | Fraunhofer Publica | 2016

    Freier Zugriff


    Reconfiguration of Cable Driven Parallel Robot Based on Mobile Base Position

    Muntashir, Rizal / Nurahmi, Latifah | British Library Conference Proceedings | 2022


    Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

    Michelin, Micaël / Hervé, Pierre Elie / Tempier, Olivier et al. | Springer Verlag | 2021