@inproceedings{0ea6ad5ab8af4fa18bbdd251de26a70a,
title = "Position and force control of the CAPAMAN 2 bis parallel robot for drilling tasks",
abstract = "A proposal for position and force control in drilling tasks is presented on this work. Force feedback is done in a simple way with a load cell. Force control algorithm is implemented in 3 degrees of freedom (DOF) parallel robot, the CAPAMAN 2 Bis, developed by the Laboratory of Robotics and Mechatronics at the University of Cassino in Italy. A graphical interface and control software were developed in LabVIEW. The results of this work shows good behavior of the system in close loop with the proposed control algorithm. During a drilling test in wood, the behavior of the hybrid system serial-parallel is acceptable when penetration rates are low.",
keywords = "Force control, Parallel robot, Robotic drilling",
author = "Briones, {J. Antonio} and Eduardo Castillo and Giuseppe Carbone and Marco Ceccarelli",
year = "2009",
doi = "10.1109/CERMA.2009.40",
language = "Ingl{\'e}s",
isbn = "9780769537993",
series = "CERMA 2009 - Electronics Robotics and Automotive Mechanics Conference",
pages = "181--186",
booktitle = "CERMA 2009 - Electronics Robotics and Automotive Mechanics Conference",
note = "CERMA 2009 - Electronics Robotics and Automotive Mechanics Conference ; Conference date: 22-09-2009 Through 25-09-2009",
}