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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 6, issue 2
Mech. Sci., 6, 119–125, 2015
https://doi.org/10.5194/ms-6-119-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Mech. Sci., 6, 119–125, 2015
https://doi.org/10.5194/ms-6-119-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 04 Aug 2015

Research article | 04 Aug 2015

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

W. Kraus, P. Miermeister, V. Schmidt, and A. Pott W. Kraus et al.
  • Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany

Abstract. For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.

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