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

Rafal Osypiuk; Torsten Kröger

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

Paper Titles

A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators
p.1

Hardware Structure of a Control Section of Manipulation Mechanism for Acoustical Measurement in Anechoic Chamber
p.7

Structure Synthesis and Mechanical Parameters Choice for a Manipulating Mechanism for Acoustical Measurements in Anechoic Chamber
p.13

Novel Type of Hybrid 3-DOF Micromanipulator with Piezoelectric Actuators – Mechanical Construction and Simulations
p.19

Web-Based Synthesis of Robot Structures for Micro and Nano Manipulations
p.25

Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems
p.31

Control Algorithms for the Mobile Robot “MAX” on a Task of Line Following Provided by Intelligent Image Processing
p.35

Control System for an All-Terrain Mobile Robot
p.43

Design of In-Pipe Modular Robotic Systems
p.49

HomeSolid State PhenomenaSolid State Phenomena Vols. 147-149A Low-Cost Hexa Platform for Efficient Force...

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

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.