Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot
Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-ef...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Jun, JongPyo [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2016 |
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| Schlagwörter: |
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| Anmerkung: |
© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 |
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| Übergeordnetes Werk: |
Enthalten in: International Journal of Control, Automation and Systems - Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009, 14(2016), 4 vom: Aug., Seite 1106-1113 |
|---|---|
| Übergeordnetes Werk: |
volume:14 ; year:2016 ; number:4 ; month:08 ; pages:1106-1113 |
| Links: |
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| DOI / URN: |
10.1007/s12555-014-0538-x |
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SPR026422255 |
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| 520 | |a Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. | ||
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| 700 | 1 | |a Ko, Seong Young |4 aut | |
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10.1007/s12555-014-0538-x doi (DE-627)SPR026422255 (SPR)s12555-014-0538-x-e DE-627 ger DE-627 rakwb eng Jun, JongPyo verfasserin aut Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. Admittance control (dpeaa)DE-He213 cable-driven parallel robot (dpeaa)DE-He213 force control (dpeaa)DE-He213 Jin, Xuemei aut Pott, Andreas aut Park, Sukho aut Park, Jong-Oh aut Ko, Seong Young aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 14(2016), 4 vom: Aug., Seite 1106-1113 (DE-627)SPR026303256 nnns volume:14 year:2016 number:4 month:08 pages:1106-1113 https://dx.doi.org/10.1007/s12555-014-0538-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 14 2016 4 08 1106-1113 |
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10.1007/s12555-014-0538-x doi (DE-627)SPR026422255 (SPR)s12555-014-0538-x-e DE-627 ger DE-627 rakwb eng Jun, JongPyo verfasserin aut Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. Admittance control (dpeaa)DE-He213 cable-driven parallel robot (dpeaa)DE-He213 force control (dpeaa)DE-He213 Jin, Xuemei aut Pott, Andreas aut Park, Sukho aut Park, Jong-Oh aut Ko, Seong Young aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 14(2016), 4 vom: Aug., Seite 1106-1113 (DE-627)SPR026303256 nnns volume:14 year:2016 number:4 month:08 pages:1106-1113 https://dx.doi.org/10.1007/s12555-014-0538-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 14 2016 4 08 1106-1113 |
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10.1007/s12555-014-0538-x doi (DE-627)SPR026422255 (SPR)s12555-014-0538-x-e DE-627 ger DE-627 rakwb eng Jun, JongPyo verfasserin aut Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. Admittance control (dpeaa)DE-He213 cable-driven parallel robot (dpeaa)DE-He213 force control (dpeaa)DE-He213 Jin, Xuemei aut Pott, Andreas aut Park, Sukho aut Park, Jong-Oh aut Ko, Seong Young aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 14(2016), 4 vom: Aug., Seite 1106-1113 (DE-627)SPR026303256 nnns volume:14 year:2016 number:4 month:08 pages:1106-1113 https://dx.doi.org/10.1007/s12555-014-0538-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 14 2016 4 08 1106-1113 |
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10.1007/s12555-014-0538-x doi (DE-627)SPR026422255 (SPR)s12555-014-0538-x-e DE-627 ger DE-627 rakwb eng Jun, JongPyo verfasserin aut Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. Admittance control (dpeaa)DE-He213 cable-driven parallel robot (dpeaa)DE-He213 force control (dpeaa)DE-He213 Jin, Xuemei aut Pott, Andreas aut Park, Sukho aut Park, Jong-Oh aut Ko, Seong Young aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 14(2016), 4 vom: Aug., Seite 1106-1113 (DE-627)SPR026303256 nnns volume:14 year:2016 number:4 month:08 pages:1106-1113 https://dx.doi.org/10.1007/s12555-014-0538-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 14 2016 4 08 1106-1113 |
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10.1007/s12555-014-0538-x doi (DE-627)SPR026422255 (SPR)s12555-014-0538-x-e DE-627 ger DE-627 rakwb eng Jun, JongPyo verfasserin aut Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. Admittance control (dpeaa)DE-He213 cable-driven parallel robot (dpeaa)DE-He213 force control (dpeaa)DE-He213 Jin, Xuemei aut Pott, Andreas aut Park, Sukho aut Park, Jong-Oh aut Ko, Seong Young aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 14(2016), 4 vom: Aug., Seite 1106-1113 (DE-627)SPR026303256 nnns volume:14 year:2016 number:4 month:08 pages:1106-1113 https://dx.doi.org/10.1007/s12555-014-0538-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 14 2016 4 08 1106-1113 |
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Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot Admittance control (dpeaa)DE-He213 cable-driven parallel robot (dpeaa)DE-He213 force control (dpeaa)DE-He213 |
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misc Admittance control misc cable-driven parallel robot misc force control |
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misc Admittance control misc cable-driven parallel robot misc force control |
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misc Admittance control misc cable-driven parallel robot misc force control |
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International Journal of Control, Automation and Systems |
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International Journal of Control, Automation and Systems |
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Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot |
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Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot |
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Jun, JongPyo |
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Jun, JongPyo Jin, Xuemei Pott, Andreas Park, Sukho Park, Jong-Oh Ko, Seong Young |
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Elektronische Aufsätze |
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10.1007/s12555-014-0538-x |
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hybrid position/force control using an admittance control scheme in cartesian space for a 3-dof planar cable-driven parallel robot |
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Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot |
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Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 |
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Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 |
| abstract_unstemmed |
Abstract This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016 |
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Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot |
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