Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation-Reference-Cited by-同舟云学术

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

Published:2015-08-04 Issue:2 Volume:6 Page:119-125
ISSN:2191-916X
Container-title:Mechanical Sciences
language:en
Short-container-title:Mech. Sci.

Author:

Kraus W.,Miermeister P.,Schmidt V.,Pott A.

Abstract

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.

Publisher

Copernicus GmbH

Subject

Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering

Link

https://ms.copernicus.org/articles/6/119/2015/ms-6-119-2015.pdf

Reference18 articles.

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