Backdrivable Macro-mini robotic system for intuitive pHRI
This video demonstrates the operation of a macro-mini robot for physical human-robot interaction. The macro-mini system consists of a (6 3)-DoF hybrid parallel robot and a 3-DoF 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 robot’s redundant DoFs (no gripper actuator at the end-effector). A peg-in-hole test and a teaching pick-and-place 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 T-RO, Open Access):
- The motion control of the parallel robot (Mechatronics):
Links to
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2 years ago 00:01:50 3
Backdrivable Macro-mini robotic system for intuitive pHRI