DESIGN OF A POSITION AND FORCE CONTROL SCHEME FOR 6RSS PARALLEL ROBOTS AND ITS APPLICATION IN CHEWING ROBOTS-Reference-Cited by-同舟云学术

DESIGN OF A POSITION AND FORCE CONTROL SCHEME FOR 6RSS PARALLEL ROBOTS AND ITS APPLICATION IN CHEWING ROBOTS

Published:2010-09 Issue:03 Volume:07 Page:477-489
ISSN:0219-8436
Container-title:International Journal of Humanoid Robotics
language:en
Short-container-title:Int. J. Human. Robot.

Author:

HUANG L.¹,XU W. L.¹,TORRANCE J.¹,BRONLUND J. E.¹

Affiliation:

1. School of Engineering and Advanced Technology, Massey University, Private Box 756, Wellington, New Zealand

Abstract

Parallel robots have been found in many applications where the work requirements are beyond the capabilities of serial robots. For example, mouth movements of chewing foods can be generated by a parallel robot. In this paper, the issue of dynamic position and force control of a chewing robot with a 6RSS mechanism is addressed. The kinematic and dynamic models of a generic 6RSS robot are developed and are then simplified considering the special features of a practical chewing robot and the requirements of controller design. An impedance control scheme is proposed to achieve the position and force control of the robot. A detailed description on the steps to implement the controller is also presented.

Publisher

World Scientific Pub Co Pte Lt

Subject

Artificial Intelligence,Mechanical Engineering

Link

https://www.worldscientific.com/doi/pdf/10.1142/S0219843610002210

Reference20 articles.

1. From food structure to texture

2. Kinematics and Experiments of a Life-Sized Masticatory Robot for Characterizing Food Texture

3. Development of Spatial In-Parallel Actuated Manipulators with Six Degrees of Freedom with High Motion Transmissibility.

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