Haptic interfaces are a possible solution for the intuitive operation of machines. In this paper, we present the implementation of an admittance control for a cable-driven parallel robot. The user can grasp the platform and push/pull it through the workspace. The dynamic behaviour (of the virtual system) can be parameterized regarding mass, stiffness and damping. With a system identification of the real robot we determine the maximum dynamic performance. It shows, that the robot can simulate (virtual) systems with a bandwidth up to 13.3Hz.
CITATION STYLE
Ho, W. Y., Kraus, W., Mangold, A., & Pott, A. (2015). Haptic interaction with a cable-driven parallel robot using admittance control. In Mechanisms and Machine Science (Vol. 32, pp. 201–212). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-09489-2_14
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