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

 
: Kraus, Werner; Miermeister, Philipp; Schmidt, Valentin; Pott, Andreas

:
Fulltext urn:nbn:de:0011-n-3664458 (1.8 MByte PDF)
MD5 Fingerprint: eff0570adae19f7461a6fb652d602229
Created on: 2.12.2015


Mechanical sciences : MS (2015), No.6, pp.119-125
ISSN: 2191-9151
European Commission EC
FP7; 285404; CableBot
English
Journal Article, Electronic Publication
Fraunhofer IPA ()
Industrieroboter; Roboter; Cable-driven parallel robot; Parallelroboter; IPAnema; Force control; Redundant Robot; Contact Control

Abstract
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.

: http://publica.fraunhofer.de/documents/N-366445.html