A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators

Abstract:

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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.

Info:

Periodical:

Solid State Phenomena (Volumes 147-149)

Edited by:

Zdzislaw Gosiewski and Zbigniew Kulesza

Pages:

1-6

DOI:

10.4028/www.scientific.net/SSP.147-149.1

Citation:

R. Osypiuk and T. Kröger, "A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators", Solid State Phenomena, Vols. 147-149, pp. 1-6, 2009

Online since:

January 2009

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Price:

$35.00

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