Design optimization, impedance control and characterization of a modified delta robot
Ergin, Alper Mehmet and Satıcı, Aykut Cihan and Patoğlu, Volkan (2011) Design optimization, impedance control and characterization of a modified delta robot. In: IEEE International Conference on Mechatronics (ICM 2011), Istanbul, Turkey
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Official URL: http://dx.doi.org/10.1109/ICMECH.2011.5971212
Optimal dimensional synthesis, impedance control and experimental characterization a Modified Delta Mechanism based haptic interface are presented. In particular, a multi-criteria design optimization problem is formulated to maximize the transparency of the device. Kinetostatic and dynamic performance indices are optimized simultaneously to reveal design trade-offs between these metrics and an optimal solution is selected from the non-dominated solution set by studying these design trade-offs and considering primary design criteria. A prototype Modified Delta Robot with the optimal dimensions is constructed. A high fidelity model of the robot is formulated and the device is controlled using open-loop impedance control. Finally, the performance of the device is tested and experimental characterization results are presented.
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