Design and Validation of Force Control Loops for a Parallel Manipulator
作者： Giuseppe Carbone , Enrique Villegas , Marco Ceccarelli
关键词: Haptic technology 、 Calibration 、 Simulation 、 Robot 、 Control system 、 Artificial intelligence 、 Robotics 、 Parallel manipulator 、 Control engineering 、 Process (computing) 、 Mechatronics 、 Engineering
摘要: This paper addresses problems for design and validation of force control loops a 3-DOF parallel manipulator in drilling applications. In particular, the has been investigated built prototype CaPaMan2bis at LARM Laboratory Robotics Mechatronics Cassino. Two have developed, each one with two types controllers. The first is Constrained Control Loop, which limits that applied to an object stay below given value. second Standard Loop external feedback, keeps implemented on by Virtual Instrument LABVIEW Software. attached serial robot make dynamic tests. results experimental tests show effectiveness quick response both algorithms after careful calibration process.
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