A proposal for position and force control in drilling tasks is presented on this work. Force feedback is done in a simple way with a load cell. Force control algorithm is implemented in 3 degrees of freedom (DOF) parallel robot, the CAPAMAN 2 Bis, developed by the Laboratory of Robotics and Mechatronics at the University of Cassino in Italy. A graphical interface and control software were developed in LabVIEW. The results of this work shows good behavior of the system in close loop with the proposed control algorithm. During a drilling test in wood, the behavior of the hybrid system serial-parallel is acceptable when penetration rates are low.
Position and Force Control of a Parallel Robot Capaman 2 Bis Parallel Robot for Drilling Tasks
2009-09-01
760533 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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