Hybrid Position/Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation [chapter]

Werner Kraus, Philipp Miermeister, Valentin Schmidt, Andreas Pott
2014 Mechanisms and Machine Science  
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
more » ... uring a motion on the cable robot IPAnema 3. Abstract. For cable-driven parallel robots elastic cables are workspace. In this paper, we present a hybrid position-force con on the environment and simultaneous movement along the surf cable forces to ensure the stability of the platform during movem imentally investigated regarding contact establishment and dynam IPAnema 3. Dyneema cable ø2.5 mm Steel frame 7.0 x 4.0 x 3.0 m Platform with six DOF
doi:10.1007/978-3-319-09411-3_59 fatcat:plxzowd6erf4bmvig544tcjzpq