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<p>Parallel Manipulators (PMs) with force control have the potential to be collaborative robots that work in close proximity to humans, other robots, or dynamic objects in their workspace. PMs with active revolute joints having inherent backdrivable characteristics can be made sensorless full-body compliant. PMs offer reduced inertia, high pose accuracy at high velocity, enhanced stiffness, and payload capacity, even with low-power actuators, which leads to increased productivity and reduced power requirement. However, having high velocities and stiffness poses risks of environmental damage and injury to a person due to the higher interaction force generated upon collision. This research introduces indirect force control strategies, impedance and admittance control, to make such PMs compliant, ensuring safe and effective interactions. Focusing on 6 Degrees of Freedom spatial Revolute-Spherical-Spherical (6-RSS) PM, simulations show the successful implementation of these strategies. Further investigations for various environmental stiffness and approach velocities/accelerations assess controller performance. These investigations also provide insights into interaction forces, aiding in the optimal end-effector design and controller parameters selection. The findings significantly contribute to the safety and efficiency of compliant manipulation tasks performed by a collaborative parallel robot.</p>

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Framework for implementing and investigating sensorless force control for collaborative manipulation using parallel robots

  • 期刊论文

  • 发表日期：

    2025年6月30日

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  • Himanshu Varshney,
  • Arun Dayal Udai,
  • Suril V. Shah,
  • Zafar Alam

摘要

Parallel Manipulators (PMs) with force control have the potential to be collaborative robots that work in close proximity to humans, other robots, or dynamic objects in their workspace. PMs with active revolute joints having inherent backdrivable characteristics can be made sensorless full-body compliant. PMs offer reduced inertia, high pose accuracy at high velocity, enhanced stiffness, and payload capacity, even with low-power actuators, which leads to increased productivity and reduced power requirement. However, having high velocities and stiffness poses risks of environmental damage and injury to a person due to the higher interaction force generated upon collision. This research introduces indirect force control strategies, impedance and admittance control, to make such PMs compliant, ensuring safe and effective interactions. Focusing on 6 Degrees of Freedom spatial Revolute-Spherical-Spherical (6-RSS) PM, simulations show the successful implementation of these strategies. Further investigations for various environmental stiffness and approach velocities/accelerations assess controller performance. These investigations also provide insights into interaction forces, aiding in the optimal end-effector design and controller parameters selection. The findings significantly contribute to the safety and efficiency of compliant manipulation tasks performed by a collaborative parallel robot.