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Authors: Fatemeh Ansarieshlaghi and Peter Eberhard

Affiliation: Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart and Germany

ISBN: 978-989-758-380-3

Keyword(s): Flexible Parallel Robot, Position Control, Force Control, Impedance Control.

Related Ontology Subjects/Areas/Topics: Industrial Engineering ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Real-Time Systems Control ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; System Modeling ; Systems Modeling and Simulation

Abstract: There are many applications for robot manipulators and these tasks are complicated when they have interaction with environments and humans. This paper investigates a novel strategy to control a very flexible parallel manipulator interacting with an environment. The controller is complicated when the used robot manipulator is a flexible multibody dynamics system and the flexibility shall be taken into account in the modeling and controlling process. Also, interaction with an unknown environment is another challenge of our research. Hence, a sophisticated controller is designed to overcome the respective challenges. To this end, a hybrid force/position control strategy is utilized. Therefore, two controllers based on the rigid and flexible models of the robot are designed and implemented to interact with a surface. The simulation results show that the controllers based on the flexible model have a better performance than those based on the rigid model and successfully track a trajectory and interact with an environment. (More)

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Paper citation in several formats:
Ansarieshlaghi, F. and Eberhard, P. (2019). Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 59-67. DOI: 10.5220/0007833400590067

@conference{icinco19,
author={Fatemeh Ansarieshlaghi. and Peter Eberhard.},
title={Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={59-67},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007833400590067},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment
SN - 978-989-758-380-3
AU - Ansarieshlaghi, F.
AU - Eberhard, P.
PY - 2019
SP - 59
EP - 67
DO - 10.5220/0007833400590067

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