A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators
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.
Zdzislaw Gosiewski and Zbigniew Kulesza
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