For cable-driven parallel robots elastic cables are used to manipulate the end-effector 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 end-effector during movement. The performance of the controller is experimentally presented regarding contact establishment and dynamic behaviour during a motion on the cable robot IPAnema 3.
CITATION STYLE
Kraus, W., Miermeister, P., Schmidt, V., & Pott, A. (2015). Hybrid position/force control of a cable-driven parallel robot with experimental evaluation. In Mechanisms and Machine Science (Vol. 24, pp. 553–561). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-09411-3_59
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