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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


Flores, Paulo (Ed.) ; International Federation for the Promotion of Mechanism and Machine Science:
New Trends in Mechanism and Machine Science. From Fundamentals to Industrial Applications : European Conference on Mechanism Science (EUCOMES 2014 Conference), 16.-19. September 2014, Guimarães, Portugal
Cham: Springer International Publishing, 2015 (Mechanisms and Machine Science 24)
ISBN: 978-3-319-09410-6 (Print)
ISBN: 978-3-319-09411-3 (Online)
European Conference on Mechanism Science (EUCOMES) <5, 2014, Guimarães/Portugal>
European Commission EC
FP7; 285404; CableBot
Fraunhofer IPA ()
cable-driven parallel robot; Parallelroboter; IPAnema; Industrieroboter; Roboter

For cable-driven parallel robots elastic cables are used to manipulate the end-effector in the workspace. !n 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 end-effector during movement. The performance of the controller is experimentally presented regarding contact establishment and dynamic behaviour during a motion on the cable robot IPAnema 3.