Position and Force Control of the CAPAMAN 2 bis Parallel Robot for Drilling Tasks

被引：7
作者：
Briones, J. Antonio [1 ]
Castillo, Eduardo [1 ]
Carbone, Giuseppe [2 ]
Ceccarelli, Marco [2 ]
机构：
[1] Inst Politecn Nacl, Unidad Queretaro, CICATA, Queretaro, Mexico
[2] Univ Cassino, DiMSAT, LARM, Cassino, Italy
来源：
CERMA: 2009 ELECTRONICS ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE | 2009年
关键词：
Parallel robot; force control; robotic drilling; MANIPULATOR;
D O I：
10.1109/CERMA.2009.40
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A proposal for position and force control in drilling tasks is presented on this work. Force feedback is done in a simple way with a load cell. Force control algorithm is implemented in 3 degrees of freedom (DOF) parallel robot, the CAPAMAN 2 Bis, developed by the Laboratory of Robotics and Mechatronics at the University of Cassino in Italy. A graphical interface and control software were developed in LabVIEW. The results of this work shows good behavior of the system in close loop with the proposed control algorithm. During a drilling test in wood, the behavior of the hybrid system serial-parallel is acceptable when penetration rates are low.
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页码：181 / +
页数：2
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