Abstract
This paper addresses problems for design and validation of force control loops for a 3-DOF parallel manipulator in drilling applications. In particular, the control design has been investigated for a built prototype of CaPaMan2bis at LARM (Laboratory of Robotics and Mechatronics of Cassino). Two control loops have been developed, each one with two types of controllers. The first one is a Constrained Control Loop, which limits the force that is applied to an object to stay below a given value. The second one is a Standard Control Loop with external force feedback, which keeps the force at a given value. The control loops have been implemented on CaPaMan2bis by a Virtual Instrument in LABVIEW Software. CaPaMan2bis has been attached to a serial robot to make dynamic tests. The results of the experimental tests show the effectiveness and quick response of both algorithms after a careful calibration process.
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