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Haptic interaction with a cable-driven parallel robot using addmittance control

: Ho, Wei Yang; Kraus, Werner; Mangold, Alexander; Pott, Andreas


Pott, Andreas (Ed.); Bruckmann, Tobias (Ed.) ; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; Univ. Duisburg-Essen:
Cable-Driven Parallel Robots : Proceedings of the Second International Conference on Cable-Driven Parallel Robots. 24 - 27th August 2014, Duisburg
Cham: Springer International Publishing, 2015 (Mechanisms and Machine Science 32)
ISBN: 978-3-319-09488-5 (Print)
eISBN: 978-3-319-09489-2 (Online)
DOI: 10.1007/978-3-319-09489-2
International Conference on Cable-Driven Parallel Robots (CableCon) <2, 2014, Duisburg>
European Commission EC
FP7; 285404; CableBot
Conference Paper
Fraunhofer IPA ()
Parallelroboter; cable-driven parallel robot; interface; Haptik; Industrieroboter; Roboter; Anzeige

Haptic interfaces are a possible solution for the intuitive Operation of machines. In this paper, we present the implementation of an admittance control for a cable-driven parallel robot. The user can grasp the platform and push/pull it through the workspace. The dynamic behaviour (of the virtual system) can be parameterized regarding mass, stiffness and damping. With a system identification of the real robot we determine the maximum dynamic perfonnance. It shows, that the robot can simulate (virtual) systems with a bandwidth up to 13.3 Hz.