Kinematics-based force/position control of a hexapod in a HiL axle test rig

Kohlstedt, Andreas; Olma, Simon; Traphöner, Phillip; Jäker, Karl-Peter; Trächtler, Ansgar

doi:10.1007/978-3-658-16988-6_92

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Cited by 2 publications

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“…Such a structure, also known as hexapod, offers 6 degrees of freedom due to its six legs which are each able to vary in length independently. Hexapods for closed loop load application have been developed by the University of Paderborn (Germany) [5] and the University of Cachan (France) [6] away others. Despite hexapods achieving high loads, they are restricted in their range of motion and limited in size of test components.…”

Section: State Of the Artmentioning

confidence: 99%

Sensor-guided motions for robot-based component testing

Hanke

Eymüller

Poeppel

et al. 2022

2022 Sixth IEEE International Conference on Robotic Computing (IRC)

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This paper presents the use of sensor-guided motions for robot-based component testing to compensate the robot's path deviations under load. We implemented two different sensorguided motions consisting of a 3D camera system to minimize the absolute deviation and a force/torque sensor mounted directly to the robot's end effector to minimize occurring transverse forces and torques. We evaluated these two sensor-guided motions in our testing facility with a classical tensile test and a heavy-duty industrial robot. From the obtained results, it can be stated, that transverse forces as well as the absolute deviation were significantly reduced.

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Section: State Of the Artmentioning

confidence: 99%