A force/torque sensor-less realization of fast and dexterous tasks with a parallel robot

摘要

This paper presents the execution of very fast and complicated tasks with a high-speed and, accurate parallel robot HEXA. At first, unified motion, force and compliance control scheme comprising of several control algorithms is given. A key distinguishing feature of our model is the control scheme which does not use any force/torque sensors but exploits actuator back-drivability for this purpose. Hence we can ignore the weight and cost of the force/torque sensor. The motivation behind this work is to exhibit the usefulness of the versatile HEXA mechanism for applications in industry. Several experiments for complex and fast tasks, for example. sequential peg-in-hole task on an inclined table crank-turning, deburring and composite task have been, performed using this control system to show its effectiveness.