A force/torque sensor-less realization of fast and dexterous tasks with a parallel robot
A force/torque sensor-less realization of fast and dexterous tasks with a parallel robot
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使用并联机器人无需力/扭矩传感器即可实现快速灵巧的任务
DOI：
10.1109/iecon.2000.973154
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
D. Kim;M. Uchiyama
本文介绍了一种高速、高精度的并联机器人HEXA执行非常快速和复杂的任务。首先给出了由多种控制算法组成的统一的运动、力和柔度控制方案。我们的模型的一个关键的显着特点是控制方案，不使用任何力/扭矩传感器，但利用致动器的反向驱动能力，用于此目的。因此，我们可以忽略力/扭矩传感器的重量和成本。这项工作背后的动机是展示多功能HEXA机制在工业应用中的有用性。例如，针对复杂和快速任务的几个实验。在倾斜工作台上连续完成了轴孔加工、曲轴车削、去毛刺和复合加工，证明了该控制系统的有效性。
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.