Design and Validation of Force Control Loops for a Parallel Manipulator-Reference-Cited by-同舟云学术

Design and Validation of Force Control Loops for a Parallel Manipulator

Published:2011-10 Issue:4 Volume:1 Page:1-18
ISSN:2156-1664
Container-title:International Journal of Intelligent Mechatronics and Robotics
language:en
Short-container-title:

Author:

Carbone Giuseppe¹^ORCID,Villegas Enrique¹,Ceccarelli Marco¹

Affiliation:

1. University of Cassino, Italy

Abstract

This paper addresses problems for design and validation of force control loops for a 3-DOF parallel manipulator in drilling applications. In particular, the control design has been investigated for a built prototype of CaPaMan2bis at LARM (Laboratory of Robotics and Mechatronics of Cassino). Two control loops have been developed, each one with two types of controllers. The first one is a Constrained Control Loop, which limits the force that is applied to an object to stay below a given value. The second one is a Standard Control Loop with external force feedback, which keeps the force at a given value. The control loops have been implemented on CaPaMan2bis by a Virtual Instrument in LABVIEW Software. CaPaMan2bis has been attached to a serial robot to make dynamic tests. The results of the experimental tests show the effectiveness and quick response of both algorithms after a careful calibration process.

Publisher

IGI Global

Subject

Artificial Intelligence,Industrial and Manufacturing Engineering,Mechanical Engineering,Control and Systems Engineering

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