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

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.