Development of a Hybrid Position/Force Controlled Hydraulic parallel Robot for Impact Treatment

Y. Liu*, H. Handroos, Olli Alkkiomäki, V. Kyrki, H. Kalviainen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

This paper presents a study of a hybrid controlled robot system for impacting targets made of different materials. The robot is 5-Dot parallel structure with hydraulic actuators, which is going to be applied in the field of Ultrasonic Impact Treatment. A hybrid control approach is proposed in order to implement the application, which one direction to the impact target is applied by a force control and other directions are applied by the position control. The overall control scheme consists of three modules, position control, position increment control and force control. The first one generates candidate actions to drive a tool, which is attached on the end-effector, as accurate as possible directly in the same direction of a target the second module can drive the tool moving to the target with a constant speed, so that the third module could impact the target with a constant force. The proposed strategy is presented in some detail and further discussed using a few test-case experiments. The experimental results support the claim that it could be successfully applied to track and impact a target with a constant force.

Original languageEnglish
Title of host publicationSERVICE ROBOTICS AND MECHATRONICS
EditorsK Shirase, S Aoyagi
Pages61-+
Number of pages3
DOIs
Publication statusPublished - 2010
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Machine Automation - Awaji, Japan
Duration: 24 Sep 200826 Sep 2008
Conference number: 7

Conference

ConferenceInternational Conference on Machine Automation
Abbreviated titleICMA
CountryJapan
CityAwaji
Period24/09/200826/09/2008

Keywords

  • hybrid control
  • force control
  • parallel robot
  • impact target

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