3dof Parallel Robot Force Control

avalera — Fri, 13 Mar 2020 11:26:05 +0000

This videos shows the force sensor used: a ATI Delta F/T sensor. With it, a force control application has been implemented. The user can modify the height and orientation of the mobile platform using a pair of his fingers

Force_control

Rehabilitating exercise definition by force sensor.

avalera — Wed, 11 Mar 2020 16:26:52 +0000

The video shows the process for the development of rehabilitation exercises using a parallel robot developed in the Universitat Politecnica de Valencia.

For the development of the exercises, the doctor moves the platform to the necessary positions and orientations. This information is stored in the robot the control unit, and this information will then be used as the motion references to follow.

To move the platform, a position and force hybrid controller has been developed.

To store the exercises there are two options: in the first one the position and orientation of the robot is continuously stored. In the second one, each pose is stored when the doctor indicates it (by pressing a key on the control team). At this moment he must indicates the desired/required time to make the move from the last stored position to the new one. In addition, in the latter case you can also indicate the interpolation (linear, cubic, spline, etc.) between the different points.

Force_control

IMBiO3R - Force_control

3dof Parallel Robot Force Control

Rehabilitating exercise definition by force sensor.