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  4. Hybrid Position/Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
 
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2015
Journal Article
Titel

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

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.
Author(s)
Kraus, Werner
Miermeister, Philipp
Schmidt, Valentin
Pott, Andreas
Zeitschrift
Mechanical sciences : MS
Project(s)
CableBot
Funder
European Commission EC
DOI
10.5194/ms-6-119-2015
File(s)
N-366445.pdf (1.89 MB)
Language
English
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Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Tags
  • Industrieroboter

  • Roboter

  • Cable-driven parallel...

  • Parallelroboter

  • IPAnema

  • Force control

  • Redundant Robot

  • Contact Control

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