Kinematic and Force Control for a Gantry-Tau Robot
(2010) In MSc ThesesDepartment 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:
http://lup.lub.lu.se/student-papers/record/8847420
- author
- Friman, Johan
- supervisor
- organization
- year
- 2010
- 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}}, }