PUMA publications for /user/andreaspott/parallelhttps://puma.ub.uni-stuttgart.de/user/andreaspott/parallelPUMA RSS feed for /user/andreaspott/parallel2024-03-28T21:50:05+01:00Bending fatigue strength and lifetime of fiber ropeshttps://puma.ub.uni-stuttgart.de/bibtex/2d40198bec18487255b82cf18fb265c47/andreaspottandreaspott2018-02-14T08:37:06+01:00Cable; Experimental; Import180214; Lifetime; cable-driven myown; parallel robot; testing; wear; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Martin Wehr" itemprop="url" href="/person/1033a7ea4d539737322d90dd00cb0207e/author/0"><span itemprop="name">M. Wehr</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/1033a7ea4d539737322d90dd00cb0207e/author/1"><span itemprop="name">A. Pott</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Karl Heinz Wehking" itemprop="url" href="/person/1033a7ea4d539737322d90dd00cb0207e/author/2"><span itemprop="name">K. Wehking</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Cable-driven Parallel Robots</span>, </em><em> 53, </em></span>(<em><span>2018<meta content="2018" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018Cable-driven Parallel Robots73--84Bending fatigue strength and lifetime of fiber ropes532018Cable; Experimental; Import180214; Lifetime; cable-driven myown; parallel robot; testing; wear; {\copyright} Springer International Publishing AG 2018. Modern fiber ropes have several distinctive properties which predestine them amongst others for high dynamic applications in robotics. Beside their great breaking load due to their high tensile streghth, the extremely low density and weight are the most important advantages over steel wire ropes. For steel wire ropes, it is generally known that their lifetime drops when raising the dynamic stress on running or static ropes. The long-time behavior of high-dynamically stressed fiber ropes is totally unexplored up to now. This lack impedes the breakthrough of fiber ropes and causes a safety gap, which has to be closed. This paper describes the research on modern fiber ropes regarding their lifetime in normal and high dynamic applications. The derived results are interpretered with respect to application in robotics.Investigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robotshttps://puma.ub.uni-stuttgart.de/bibtex/2323e238f67fcd7c605f7a7b73d5e89e9/andreaspottandreaspott2018-02-14T08:37:06+01:00Import180214; Ovalisation; Winch; Winding; cable-driven myown; parallel properties; robot; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Valentin Schmidt" itemprop="url" href="/person/112cab22bcf4da97a68dc4eb9949dcc1b/author/0"><span itemprop="name">V. Schmidt</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Alexander Mall" itemprop="url" href="/person/112cab22bcf4da97a68dc4eb9949dcc1b/author/1"><span itemprop="name">A. Mall</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/112cab22bcf4da97a68dc4eb9949dcc1b/author/2"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">New Trends in Mechanism and Machine Science</span>, </em></span><em>volume 24 of Mechanisms and Machine Science, </em><em>page <span itemprop="pagination">315-323</span>. </em><em><span itemprop="publisher">Springer</span>, </em>(<em><span>2015<meta content="2015" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018New Trends in Mechanism and Machine Science315-323Mechanisms and Machine ScienceInvestigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robots242015Import180214; Ovalisation; Winch; Winding; cable-driven myown; parallel properties; robot; Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axeshttps://puma.ub.uni-stuttgart.de/bibtex/2a35578bdc8e10c806b4e866997d2aef5/andreaspottandreaspott2018-02-14T08:37:06+01:00Import180214; Kinematics; Multiple cable-driven design; myown; parallel platforms; robot; robot;Force <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Miermeister" itemprop="url" href="/person/10091263f6bd027cb4f672cfc6fdfa1ee/author/0"><span itemprop="name">P. Miermeister</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/10091263f6bd027cb4f672cfc6fdfa1ee/author/1"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Interdisciplinary Applications of Kinematics</span>, </em><em>volume 26 of Mechanisms and Machine Science, </em><em><span itemprop="publisher">Springer</span>, </em></span>(<em><span>2015<meta content="2015" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018Interdisciplinary Applications of Kinematics21--29Mechanisms and Machine ScienceDesign of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating AxesPublication262015Import180214; Kinematics; Multiple cable-driven design; myown; parallel platforms; robot; robot;Force Determination of the cable span and cable deflection of cable-driven parallel robotshttps://puma.ub.uni-stuttgart.de/bibtex/2967d66a0c38e8746feb4cea7be6496f0/andreaspottandreaspott2018-02-14T08:37:06+01:00Cable-driven Collision; Deflection; Import180214; angles; cable design; myown; parallel robot; span workspace; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/14784d0229c2cd0877db7a59e0e504052/author/0"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Cable-driven Parallel Robots</span>, </em><em> 53, </em></span>(<em><span>2018<meta content="2018" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018Cable-driven Parallel Robots106--116Determination of the cable span and cable deflection of cable-driven parallel robotsPublication532018Cable-driven Collision; Deflection; Import180214; angles; cable design; myown; parallel robot; span workspace; \copyright Springer International Publishing AG 2018. In this paper, a method is proposed to compute the so-called cable span, i.e. the space occupied by the cables when the robot is moving within its workspace. As the cables are attached to a mostly fixed point on the robot frame, the shape of the cable span is a generalized cone. We present an efficient method polar sorting to compute the surface of this cone. Furthermore, the found geometry of the cone is employed in the design of the cable anchor points in order to dimension its deflection capabilities and to compute a suitable orientation for the installation of the mechanical unit.Increase of position accuracy for cable-driven parallel robots using a model for elongation of plastic fiber ropeshttps://puma.ub.uni-stuttgart.de/bibtex/2a94af3051390a15f7b9b5a1c8a18ef49/andreaspottandreaspott2018-02-14T08:37:06+01:00Accuracy; Cable-driven Elongation; Import180214; Real-time computation; modeling; myown; parallel robots; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Valentin Schmidt" itemprop="url" href="/person/187193bab74df5bf72711744f58d5c4bb/author/0"><span itemprop="name">V. Schmidt</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/187193bab74df5bf72711744f58d5c4bb/author/1"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Mechanisms and Machine Science</span>, </em><em> 43, </em></span>(<em><span>2017<meta content="2017" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018Mechanisms and Machine Science335--343Increase of position accuracy for cable-driven parallel robots using a model for elongation of plastic fiber ropesPublication432017Accuracy; Cable-driven Elongation; Import180214; Real-time computation; modeling; myown; parallel robots; \copyright Springer International Publishing Switzerland 2017. This paper investigates the modeling of elongation in plastic fiber ropes for cable-driven parallel robots. The aim is to increase the accuracy of such amachine by incorporating a simple model for cable elongation when a force is applied. Several other modeling techniques already exist which take into account pulleys, cable mass, and the cables' Young's modulus. Their calculation is involved and accuracy improvements are yet to be verified completely. Here, a simpler model which only takes into account a theoretical force, based on robot geometry, at a given pose and measured elongation coefficients is proposed. It is implemented and verified experimentally, on the fully constrained IPAnema 3 prototype. It is shown to give an accuracy improvement of two fifths, from 46.5mm to 29.0mm average position deviation.Efficient computation of the workspace boundary, its properties and derivatives for cable-driven parallel robotshttps://puma.ub.uni-stuttgart.de/bibtex/22d83aefa2410756da89ab7bbd6fdfafc/andreaspottandreaspott2018-02-14T08:37:06+01:00Differential; Import180214; boundary; cable-driven design;Workspace; myown; parallel robot; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/121d0af93018eb0c228f1de30f50236ed/author/0"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">7th International Workshop on Computational Kinematics, CK 2017</span>, </em><em> 50, </em></span>(<em><span>2017<meta content="2017" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 20187th International Workshop on Computational Kinematics, CK 2017190--197Efficient computation of the workspace boundary, its properties and derivatives for cable-driven parallel robotsPublication502017Differential; Import180214; boundary; cable-driven design;Workspace; myown; parallel robot; \copyright Springer International Publishing AG 2018. The workspace is an important property in the design of every cable-driven parallel robot. As the workspace is a complicated geometric object, it is difficult to describe changes in shape and size of the workspace when varying the design parameters of the robot. In this paper, we present an efficient method called differential workspace hull to describe and compute the workspace properties. The method is based on a triangulation of the surface of the robot's workspace. Furthermore, we establish an algorithm that allows to compute the influence of small changes in the design parameters on the workspace shape. A numerical example underlines the computational efficiency and accuracy of the presented method.System identification and cable force control for a cable-driven parallel robot with industrial servo drives.https://puma.ub.uni-stuttgart.de/bibtex/2bce9b23147e966eb302e5e7d71df42e4/andreaspottandreaspott2018-02-14T08:37:06+01:00Import180214; Mechanism;Redundant cable-driven myown; parallel robot <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Werner Kraus" itemprop="url" href="/person/1047cad00afa5b2830a97fe924a6d44a2/author/0"><span itemprop="name">W. Kraus</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Valentin Schmidt" itemprop="url" href="/person/1047cad00afa5b2830a97fe924a6d44a2/author/1"><span itemprop="name">V. Schmidt</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Puneeth Rajendra" itemprop="url" href="/person/1047cad00afa5b2830a97fe924a6d44a2/author/2"><span itemprop="name">P. Rajendra</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/1047cad00afa5b2830a97fe924a6d44a2/author/3"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">IEEE International Conference on Robotics and Automation (ICRA), 2014</span>, </em></span><em>page <span itemprop="pagination">5921-5926</span>. </em><em><span itemprop="publisher">IEEE</span>, </em>(<em><span>2014<meta content="2014" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018IEEE International Conference on Robotics and Automation (ICRA), 20145921-5926System identification and cable force control for a cable-driven parallel robot with industrial servo drives.2014Import180214; Mechanism;Redundant cable-driven myown; parallel robot In a cable-driven parallel robot, elastic cables are used to manipulate the end effector in the workspace. In this paper we present a dynamic analysis and system identification for the complete actuator unit of a cable robot including servo controller, winch, cable, cable force sensor and field bus communication. We establish a second-order system with dead time as an analagous model. Based on this investigation, we propose the design and stability analysis of a cable force controller. We present the implementation of feed-forward and integral controllers based on a stiffness model of the cables. As the platform position is not observable the challenge is to control the cable force while maintaining the positional accuracy. Experimental evaluation of the force controller shows, that the absolute positional accuracy is even improved.Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3https://puma.ub.uni-stuttgart.de/bibtex/2e86c0829751529aff692de6146b7852f/andreaspottandreaspott2018-02-14T08:37:06+01:00Cable-driven Import180214; modeling;dynamics; myown; parallel robot; simulation;hardware-in-the-loop system <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Miermeister" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/1"><span itemprop="name">P. Miermeister</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/2"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Proceedings of the 14th IFToMM World Congress</span>, </em></span><em>page <span itemprop="pagination">117--123</span>. </em><em>Taipei, </em>(<em><span>2015<meta content="2015" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018TaipeiProceedings of the 14th IFToMM World Congress117--123Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 32015Cable-driven Import180214; modeling;dynamics; myown; parallel robot; simulation;hardware-in-the-loop system In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.Application of the rigid finite element method to the simulation of cable-driven parallel robotshttps://puma.ub.uni-stuttgart.de/bibtex/26ec38bc651a3e0d587d1f31c07070ce6/andreaspottandreaspott2018-02-14T08:37:06+01:00Flexible; Holonomic Import180214; dynamics;cable-driven kinematics; myown; order parallel reduction;Multi-body robot; systems;Model <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/1e102050bd3ff142a84207c1cadaf4620/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Schmidt" itemprop="url" href="/person/1e102050bd3ff142a84207c1cadaf4620/author/1"><span itemprop="name">A. Schmidt</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Bernard Haasdonk" itemprop="url" href="/person/1e102050bd3ff142a84207c1cadaf4620/author/2"><span itemprop="name">B. Haasdonk</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/1e102050bd3ff142a84207c1cadaf4620/author/3"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">7th International Workshop on Computational Kinematics, CK 2017</span>, </em><em> 50, </em></span>(<em><span>2017<meta content="2017" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 20187th International Workshop on Computational Kinematics, CK 2017198-205Application of the rigid finite element method to the simulation of cable-driven parallel robotsPublication502017Flexible; Holonomic Import180214; dynamics;cable-driven kinematics; myown; order parallel reduction;Multi-body robot; systems;Model \copyright Springer International Publishing AG 2018. Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method using rigid bodies and spring-damper elements. With this, a simulation of a planar 3 degrees of freedom cable-driven parallel robot is constructed as a multi-body dynamics model. Under consideration of holonomic constraints and Baumgarte stabilization, a simulation framework for the simulation of cable-driven parallel robots including dynamics of the cables is developed and presented.Presentation of Experimental Results on Stability of a 3 DOF 4-Cable-Driven Parallel Robot Without Constraintshttps://puma.ub.uni-stuttgart.de/bibtex/26ac854f07653476c51d2cf798a282182/andreaspottandreaspott2018-02-14T08:37:06+01:00Import180214; Parallel Stiffness;cable-driven Wire myown; robot;kinematic; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Valentin Schmidt" itemprop="url" href="/person/18c72812d622c8b2c485e71eebfaaeef3/author/0"><span itemprop="name">V. Schmidt</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Werner Kraus" itemprop="url" href="/person/18c72812d622c8b2c485e71eebfaaeef3/author/1"><span itemprop="name">W. Kraus</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/18c72812d622c8b2c485e71eebfaaeef3/author/2"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Cable-Driven Parallel Robots</span>, </em></span><em>page <span itemprop="pagination">87-99</span>. </em><em><span itemprop="publisher">Springer</span>, </em>(<em><span>2014<meta content="2014" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018Cable-Driven Parallel Robots87-99Mechanisms and Machine SciencePresentation of Experimental Results on Stability of a 3 DOF 4-Cable-Driven Parallel Robot Without Constraints2014Import180214; Parallel Stiffness;cable-driven Wire myown; robot;kinematic; Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robothttps://puma.ub.uni-stuttgart.de/bibtex/21e495a8e5f81a4aed351f4b34f07088a/andreaspottandreaspott2018-02-14T08:37:06+01:00Admittance; Import180214; control control;Cable-driven myown; parallel robot;Force <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Jong Pyo Jun" itemprop="url" href="/person/1538e0be8b3034d523236c042a562cafe/author/0"><span itemprop="name">J. Jun</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Xuemei Jin" itemprop="url" href="/person/1538e0be8b3034d523236c042a562cafe/author/1"><span itemprop="name">X. Jin</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/1538e0be8b3034d523236c042a562cafe/author/2"><span itemprop="name">A. Pott</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Sukho Park" itemprop="url" href="/person/1538e0be8b3034d523236c042a562cafe/author/3"><span itemprop="name">S. Park</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Jong-Oh Park" itemprop="url" href="/person/1538e0be8b3034d523236c042a562cafe/author/4"><span itemprop="name">J. Park</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Seong Young Ko" itemprop="url" href="/person/1538e0be8b3034d523236c042a562cafe/author/5"><span itemprop="name">S. Ko</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/PublicationIssue" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="journal">International Journal of Control, Automation and Systems</span>, </em> <em><span itemtype="http://schema.org/PublicationVolume" itemscope="itemscope" itemprop="isPartOf"><span itemprop="volumeNumber">14 </span></span>(<span itemprop="issueNumber">4</span>):
<span itemprop="pagination">1106--1113</span></em> </span>(<em><span>2016<meta content="2016" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018International Journal of Control, Automation and Systems41106--1113Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot142016Admittance; Import180214; control control;Cable-driven myown; parallel robot;Force 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg. This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance.