Backdrivable Macro mini robotic system for intuitive p HRI
This video demonstrates the operation of a macromini robot for physical humanrobot interaction. The macromini system consists of a (6+3)DoF hybrid parallel robot and a 3DoF gantry system. No force, torque sensor is used. The system can take advantage of the large workspace (the macro robot) and of the fast response (the mini robot). Besides, the hybrid parallel robot provides a large range of possible rotations and the gripper is controlled using the robots redundant DoFs (no gripper actuator at the endeffector). A peginhole test and a teaching pickandplace task are shown in the last part of the video as examples to illustrate the capabilities of the robot. Links to related research articles: The design and analysis of the hybrid parallel robot (IEEE TRO, Open Access): The motion control of the parallel robot (Mechatronics): Links to
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