Realization of Fast and Dexterous Tasks by a DD Parallel Robot Using Motor Back-drivability | Zendy

Doohyung Kim | Zendy; Masaru Uchiyama | Zendy

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Realization of Fast and Dexterous Tasks by a DD Parallel Robot Using Motor Back-drivability

Author(s) -

Doohyung Kim,

Masaru Uchiyama

Publication year - 2001

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2001.p0554

Subject(s) - computer science , torque , actuator , robot , task (project management) , realization (probability) , table (database) , crank , motion control , simulation , scheme (mathematics) , work (physics) , control engineering , motion (physics) , artificial intelligence , engineering , mechanical engineering , statistics , mathematics , mathematical analysis , physics , systems engineering , data mining , thermodynamics

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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