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Design and Validation of Force Control Loops for a Parallel Manipulator

Design and Validation of Force Control Loops for a Parallel Manipulator

Giuseppe Carbone, Enrique Villegas, Marco Ceccarelli
Copyright: © 2011 |Volume: 1 |Issue: 4 |Pages: 18
ISSN: 2156-1664|EISSN: 2156-1656|EISBN13: 9781613508008|DOI: 10.4018/ijimr.2011100101
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MLA

Carbone, Giuseppe, et al. "Design and Validation of Force Control Loops for a Parallel Manipulator." IJIMR vol.1, no.4 2011: pp.1-18. http://doi.org/10.4018/ijimr.2011100101

APA

Carbone, G., Villegas, E., & Ceccarelli, M. (2011). Design and Validation of Force Control Loops for a Parallel Manipulator. International Journal of Intelligent Mechatronics and Robotics (IJIMR), 1(4), 1-18. http://doi.org/10.4018/ijimr.2011100101

Chicago

Carbone, Giuseppe, Enrique Villegas, and Marco Ceccarelli. "Design and Validation of Force Control Loops for a Parallel Manipulator," International Journal of Intelligent Mechatronics and Robotics (IJIMR) 1, no.4: 1-18. http://doi.org/10.4018/ijimr.2011100101

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Abstract

This paper addresses problems for design and validation of force control loops for a 3-DOF parallel manipulator in drilling applications. In particular, the control design has been investigated for a built prototype of CaPaMan2bis at LARM (Laboratory of Robotics and Mechatronics of Cassino). Two control loops have been developed, each one with two types of controllers. The first one is a Constrained Control Loop, which limits the force that is applied to an object to stay below a given value. The second one is a Standard Control Loop with external force feedback, which keeps the force at a given value. The control loops have been implemented on CaPaMan2bis by a Virtual Instrument in LABVIEW Software. CaPaMan2bis has been attached to a serial robot to make dynamic tests. The results of the experimental tests show the effectiveness and quick response of both algorithms after a careful calibration process.

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