Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

Force-Sensor-Free Implementation of a Hybrid Position–Force Control for Overconstrained Cable-Driven Parallel Robots

This paper proposes a hybrid position–force control strategy for overconstrained cable-driven parallel robots (CDPRs). Overconstrained CDPRs have more cables (<i>m</i>) than degrees of freedom (<i>n</i>), and the idea of the proposed controller is to control <i>n</i&...

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Bibliographic Details
Main Authors: Luca Guagliumi, Alessandro Berti, Eros Monti, Marc Fabritius, Christoph Martin, Marco Carricato
Format: Article
Language:English
Published: MDPI AG 2024-01-01
Series:Robotics
Subjects:
cable-driven parallel robots
position–force control
hybrid control in joint space
friction modeling
experimental analysis
Online Access:https://www.mdpi.com/2218-6581/13/2/25

Internet

https://www.mdpi.com/2218-6581/13/2/25

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