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Kinematic and Force Control for a Gantry-Tau Robot

Friman, Johan (2010) In MSc Theses
Department of Automatic Control
Abstract
This master thesis present a simulation environment developed in Matlab/Simulink, which can be used for control design and code generation for real-time control experiments for the Gantry-Tau parallel robot. The Gantry-Tau is a new parallel robot concept which offers great rigidity, high speeds and large workspace. The kinematics library presented in this thesis is developed for the 5 degrees of freedom Gantry-Tau prototype used at the Robotics Lab, Department of Automatic Control, Lund. A force control design using dual sensors is presented. One force sensor si used in an operator lead-through design using an impedance control strategy. The other force sensor is used to protect the tool of the robot, by preventing large contact forces... (More)
This master thesis present a simulation environment developed in Matlab/Simulink, which can be used for control design and code generation for real-time control experiments for the Gantry-Tau parallel robot. The Gantry-Tau is a new parallel robot concept which offers great rigidity, high speeds and large workspace. The kinematics library presented in this thesis is developed for the 5 degrees of freedom Gantry-Tau prototype used at the Robotics Lab, Department of Automatic Control, Lund. A force control design using dual sensors is presented. One force sensor si used in an operator lead-through design using an impedance control strategy. The other force sensor is used to protect the tool of the robot, by preventing large contact forces building up, force which potentially harmful for the tool and robot. (Less)
Please use this url to cite or link to this publication:
author
Friman, Johan
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5850
ISSN
0280-5316
language
English
id
8847420
date added to LUP
2016-03-16 12:32:52
date last changed
2016-03-16 12:32:52
@misc{8847420,
  abstract     = {{This master thesis present a simulation environment developed in Matlab/Simulink, which can be used for control design and code generation for real-time control experiments for the Gantry-Tau parallel robot. The Gantry-Tau is a new parallel robot concept which offers great rigidity, high speeds and large workspace. The kinematics library presented in this thesis is developed for the 5 degrees of freedom Gantry-Tau prototype used at the Robotics Lab, Department of Automatic Control, Lund. A force control design using dual sensors is presented. One force sensor si used in an operator lead-through design using an impedance control strategy. The other force sensor is used to protect the tool of the robot, by preventing large contact forces building up, force which potentially harmful for the tool and robot.}},
  author       = {{Friman, Johan}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Kinematic and Force Control for a Gantry-Tau Robot}},
  year         = {{2010}},
}