A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators |
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| Journal | Solid State Phenomena (Volumes 147 - 149) |
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| Volume | Mechatronic Systems and Materials III |
| Edited by | Zdzislaw Gosiewski and Zbigniew Kulesza |
| Pages | 1-6 |
| DOI | 10.4028/www.scientific.net/SSP.147-149.1 |
| Citation | Rafal Osypiuk et al., 2009, Solid State Phenomena, 147-149, 1 |
| Online since | January, 2009 |
| Authors | Rafal Osypiuk, Torsten Kröger |
| Keywords | Active Environment Systems, Force Control, Hexa Platform, Impedance Control, Parallel Robot |
| Abstract | This contribution presents a new force control concept for industrial six-degree of freedom (DOF) manipulators, which uses a Hexa platform that provides an active environmental stiffness for all six DOFs. The paper focuses on the Hexa platform and is split into two essential parts: (i) parallel platform construction, and (ii) application of force control with industrial manipulators using a six-DOF environmental stiffness. This mechatronic solution almost gives one hundred percent robustness for stiffness changes in the environment, what guaranties a significant shortening of execution time. |
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