Backdrivable Macro-mini robotic system for intuitive pHRI

Описание: 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): https://ieeexplore.ieee.org/abstract/...
The motion control of the parallel robot (Mechatronics): https://www.sciencedirect.com/science...

Links to related videos:
Motion control of the parallel robot:    • Backdrivable Kinematically Redundant (6+3)...  
Physical Human-Robot Interaction with the parallel robot:    • Backdrivable Kinematically Redundant (6+3)...  
uMan: Low-Impedance pHRI:    • uMan: Deck lid cooperative installation  
Intuitive pHRI Using a Passive Parallel Mechanism:    • Intuitive Physical Human-Robot Interaction...