Design optimization, impedance control and characterization of a modified delta robot

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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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Abstract

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.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: haptic interface , multi-criteria design optimization
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 07 Jan 2012 23:59
Last Modified: 26 Apr 2022 09:04
URI: https://research.sabanciuniv.edu/id/eprint/18222

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