首页|Study Findings on Robotics Discussed by Researchers at University of Bologna (Fo rce-Sensor-Free Implementation of a Hybrid Position-Force Control for Overconstr ained Cable-Driven Parallel Robots)
Study Findings on Robotics Discussed by Researchers at University of Bologna (Fo rce-Sensor-Free Implementation of a Hybrid Position-Force Control for Overconstr ained Cable-Driven Parallel Robots)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Research findings on robotics are disc ussed in a new report. According to news reporting originating from Bologna, Ita ly, by NewsRx correspondents, research stated, "This paper proposes a hybrid pos ition-force control strategy for overconstrained cable-driven parallel robots (C DPRs)." Our news reporters obtained a quote from the research from University of Bologna : "Overconstrained CDPRs have more cables (* * m* * ) than degrees of freedom (* * n* * ), and the idea of the proposed controller is to control * * n* * cables in length and the other m - n ones in force. Two controller implementations are developed, one using the motor torque and one using the motor following-error i n the feedback loop for cable force control. A friction model of the robot kinem atic chain is introduced to improve the accuracy of the cable force estimation. Compared to similar approaches available in the literature, the novelty of the p roposed control strategy is that it does not rely on force sensors, which reduce s the hardware complexity and cost. The developed control scheme is compared to classical methods that exploit force sensors and to a pure inverse kinematic con troller. The experimental results show that the new controller provides good tra cking of the desired cable forces, maintaining them within the given bounds."
University of BolognaBolognaItalyE uropeEmerging TechnologiesMachine LearningNano-robotRobotics
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