Abstract
This paper presents the execution of very fast and complicated tasks with a high-speed and accurate parallel robot HEXA. At first, unified motion, force and compliance control scheme comprising of several control algorithms is given. A key distinguishing feature of our model is the control scheme which does not use any force/torque sensors but exploits actuator back-drivability for this purpose. Hence we can ignore the weight and cost of the force/torque sensor. The motivation behind this work is to exhibit the usefulness of the versatile HEXA mechanism for applications in industry. Several experiments for complex and fast tasks, for example, sequential peg-in-hole task on an inclined table, crank-turning, deburring and composite task have been performed using this control system to show its effectiveness.
| Original language | English |
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| Pages | 223-228 |
| Number of pages | 6 |
| Publication status | Published - 2000 Dec 1 |
| Event | 26th Annual Conference of the IEEE Electronics Society IECON 2000 - Nagoya, Japan Duration: 2000 Oct 22 → 2000 Oct 28 |
Other
| Other | 26th Annual Conference of the IEEE Electronics Society IECON 2000 |
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| Country | Japan |
| City | Nagoya |
| Period | 00/10/22 → 00/10/28 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering