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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.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju, 500-757, Korea

    JongPyo Jun, Xuemei Jin, Sukho Park, Jong-Oh Park & Seong Young Ko

  2. Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70596, Stuttgart, Germany

    Andreas Pott

Authors
  1. JongPyo Jun
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  2. Xuemei Jin
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  3. Andreas Pott
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  4. Sukho Park
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  5. Jong-Oh Park
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  6. Seong Young Ko
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Corresponding authors

Correspondence to Jong-Oh Park or Seong Young Ko.

Additional information

Recommended by Associate Editor Changchun Huae under the direction of Editor Yoshito Ohta. This research was supported by the Leading Foreign Research Institute Recruitment Program through the National Research Foundation of Korea (NRF), funded by the Ministry of Science, ICT and Future Planning (MSIP) (2012K1A4A3026740).

JongPyo Jun received his B.S. (2008) degree in the Department of Mechanical Engineering from Sunchon University, Sunchon, Korea and his M.S. (2015) degree in the Department of Mechanical Engineering from Chonnam National University, Gwangju, Korea. Currently, he works for Seoam Industry Co., LTD. His research interests include cable robotics.

Xuemei Jin received her B.S. (2012) degree in the Department of German Language and double majored in the Department of Mechanical Engineering from Yanbian University Science & Technology (YUST), China and her M.S. (2015) degree in the Department of Mechanical Engineering from Chonnam National University. Currently, she is a Ph.D. candidate in same university. Her research interests include cable robotics and medical robotics.

Andreas Pott received a degree as Diplom-Ingenieur (2003) and a Ph.D (2007) from the University of Duisburg-Essen, Germany. Since 2006, he is with Fraunhofer IPA at the Department of Robot Systems. In 2013, he was appointed assistant professor for simulation technolgoy at the University of Stuttgart, Germany. His main research area is kinematics, dynamic simulation, control, and design of cable-driven parallel robots, where he developed some 15 cable robots demonstrators.

Sukho Park received his B.S. (1993), M.S. (1995) and Ph.D. (2000) degrees in the Department of Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea. From 2000 to 2004, he worked as a senior research engineer at LG Electronics Production Research Center, Korea. From 2004 to 2006, he worked as a senior researcher of Microsystem Research Center in Korea Institute of Science and Technology (KIST). In 2006, he moved to Chonnam National University where he is now a professor of the Department of Mechanical Engineering and a section head of Robot Research Initiative (RRI). His research interests are microactuator/robot and micromanipulation for biomedical instrumental applications.

Jong-Oh Park received his B.S. (1978) and M.S. (1981) degrees from the Department of Mechanical Engineering, Korea and Ph.D. (1987) in robotics from Stuttgart University, Germany. From 1982 to 1987, he worked as a guest researcher Fraunhofer-Gesellschaft Institut fur Produktionstechnik und Automatisierung (FhG IPA), Germany. He worked as a principal researcher in Korea Institute of Science and Technology (KIST) from 1987 to 2005 and he was a director of Microsystem Research Center in KIST from 1999 to 2005. In 2005, he moved to Chonnam National University where he is now a full professor of the department of mechanical engineering and a director of robot research initiative (RRI). His research interests are biomedical microrobot, medical robot and service robot.

Seong Young Ko received the B.S. degree, the M.S. degree, and the Ph.D. degree in the Department of Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2000, 2002, and 2008, respectively. In 2008, he was a post-doctoral researcher in the Department of Electrical Engineering, KAIST, Korea, and from 2009 to 2011, he was a research associate in the Mechatronics- In-Medicine Laboratory, the Department of Mechanical Engineering, Imperial College London, UK. From October 2011, he is now an associate professor in the Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea. His research interests include medical robotics, human-robot interaction and intelligent control.

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Jun, J., Jin, X., Pott, A. et al. Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot. Int. J. Control Autom. Syst. 14, 1106–1113 (2016). https://doi.org/10.1007/s12555-014-0538-x

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  • DOI: https://doi.org/10.1007/s12555-014-0538-x

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