Position and Force Control of a Parallel Robot Capaman 2 Bis Parallel Robot for Drilling Tasks

Author

Briones, J. Antonio ; Castillo, Eduardo ; Carbone, Giuseppe ; Ceccarelli, Marco

Author_Institution

CICATA, Inst. Politec. Nac., Queretaro, Mexico

fYear

2009

fDate

22-25 Sept. 2009

Firstpage

181

Lastpage

186

Abstract

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.

Keywords

closed loop systems; control engineering computing; drilling; end effectors; feedback; force control; graphical user interfaces; position control; CAPAMAN 2 bis parallel robot; Lab VIEW; close loop control algorithm; control software; degrees of freedom; drilling tasks; force control; force feedback; graphical interface; position control; Control systems; Current measurement; Drilling; End effectors; Force control; Force measurement; Force sensors; Machining; Manipulators; Parallel robots; FORCE CONTROL; PARALLEL ROBOT; ROBOTIC DRILLING;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.

Conference_Location

Cuernavaca, Morelos

Print_ISBN

978-0-7695-3799-3

Type

conf

DOI

10.1109/CERMA.2009.40

Filename

5341991