Realization of Fast and Dexterous Tasks by a DD Parallel Robot Using Motor Back-drivability
Doohyung Kim and Masaru Uchiyama
Department of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai, 980-8579, Japan
This paper presents the execution of very fast, complicated tasks with a high-speed accurate parallel robot we named HEXA. First, unified motion, force and compliance control scheme comprising several control algorithms are given. A key distinguishing feature of our model is control scheme, which does not use any force/torque sensors but uses the actuator backdrivability for this purpose. Hence we can ignore the weight and cost of the force/torque sensor. The motivation for this work is to show the usefulness of the versatile HEXA mechanism for applications in industry. Several experiments for complex, fast tasks, for example, the sequential peg-in-hole task on an inclined table, crank-turning, deburring and composite tasks, have been conducted using this control system to show its effectiveness.
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