Paper Title:
Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot
  Abstract

During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate and control the trainer pelvis movement. Based on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy was proposed that the position loop would realize the end-effector motion trajectory, and the force loop would control the wire tension. The experimental results have shown that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of the robot system by adjusting the wire tension.

  Info
Periodical
Chapter
Chapter 1: Applied Mechanics Mechanical Engineering
Edited by
Honghua Tan
Pages
68-73
DOI
10.4028/www.scientific.net/AMM.138-139.68
Citation
K. Y. Wang, F. C. Ma, M. Hao, L. X. Zhang, P. Liu, "Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot", Applied Mechanics and Materials, Vols. 138-139, pp. 68-73, 2012
Online since
November 2011
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Price
$35.00
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