Ho, Wei YangWei YangHoKraus, WernerWernerKrausMangold, AlexanderAlexanderMangoldPott, AndreasAndreasPott2022-03-122022-03-122015https://publica.fraunhofer.de/handle/publica/38802410.1007/978-3-319-09489-2_14Haptic 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.enParallelrobotercable-driven parallel robotinterfaceHaptikIndustrieroboterRoboterAnzeigeconference paper