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.


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    Title :

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


    Contributors:

    Published in:

    Publication date :

    2015


    Size :

    7 pages



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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