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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Position and Force Control of a Parallel Robot Capaman 2 Bis Parallel Robot for Drilling Tasks




    Publication date :

    2009-09-01


    Size :

    760533 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Study on hybrid kinematic analyses of force and position parallel loop for robot

    Yin, Y. / Zhu, J. / Wei, Z. | British Library Online Contents | 1997



    Design of a planar cable-driven parallel robot for non-contact tasks

    Mattioni V. / Ida E. / Carricato M. | BASE | 2021

    Free access

    Hybrid Position/Force Control of Robot Manipulators

    Raibert, M. H. / Craig, J. J. | NTRS | 1982