Design Optimization, Impedance Control and Characterization of a Modified Delta Robot. Ergin, M. A., Satici, A. C., & Patoglu, V. In IEEE International Conference on Mechatronics (ICM 2011), 2011. abstract bibtex 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.
@InProceedings{Ergin2011b,
booktitle = {IEEE International Conference on Mechatronics (ICM 2011)},
author = {Mehmet Alper Ergin and Aykut Cihan Satici and Volkan Patoglu},
title = {Design Optimization, Impedance Control and Characterization of a Modified Delta Robot},
year = {2011},
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.}
}
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