Mal for the path [27,28]. To carry out the experiment, the four. Experiment stand shown in Figure 5 was used. The diagram from the selected control method is shown in (Figure 6b). So that you can confirm the operation from the S-function, a positionA ball caster (no. 1 in Figure 5) is employed as a robot tool, which can be pressed against the mating surface on the workpiece. Theon the algorithm described in 700 N. The p built in Simulink based caster can move freely under pressure as much as [27]. As a workpiece, two metal flat bars using a thickness of 1 mm had been used, spaced in the is to implement clamps to the aluminum profile (no. 3 a path tangent to middle and fastened withthe trajectory of motion in in Figure five). Resulting from the high riskof harm towards the manipulator when the tool hits the surface of your workpiece, the To c tory of the force in the path regular for the path [27,28]. workpiece was attached to a pneumatic table (no. two in Figure 5) with an adjustable degree the stand shown in Figure 5 was made use of. The diagram from of compliance. Growing the compliance of the mating surfaces prevents the tool of your sel hitting the surface from the workpiece with excessive force. The compliance in the table-top shown in (Figure 6b). can be adjusted by changing the Streptonigrin In Vivo stress on the pneumatic cylinders that hold the table-top on both sides on the base (no. two in Figure 6a). It was assumed that as part of the experiment, the manipulator would make 3 runs along a straight line (no. 4 in Figure 6a) and press the tool against the surface with the workpiece using a continuous force.Sensors 2021, 21, 7463 Sensors 2021, 21, x FOR PEER REVIEW8 of 17 8 ofFigure 5. Photo of your test stand. Figure 5. Photo from the test stand.A ball caster (no. 1 in Figure five) is used as a robot tool, that is pressed against the four.1. Controller Configuration mating surface on the workpiece. The caster can move freely beneath stress up to 700 N. A workobject two metal within the robot controller memory, i.e., had been applied, spaced inside the As a workpiece,was defined flat bars using a thickness of 1 mmthe user reference method xmiddle relative to which the TCP position might be Icosabutate Epigenetic Reader Domain determined. The tooldata variable to the yO zO , and fastened with clamps towards the aluminum profile (no. three in Figure five). Due was O also defined, harm to the manipulator when the tool hits TCPsurfacezof therelation to high danger of containing information about the position in the (x T y T T ) in workpiece, the manipulatorwas attached to a the weight of the (no. two in Figure 5) with an center with the workpiece flange at the same time as pneumatic table tool plus the location of its adjustable gravity. The EGM method was configured to run in Position Guidance mode prevents choice degree of compliance. Increasing the compliance with the mating surfaces together with the the tool to handle the TCP position (with no orientationexcessive force.flat frame of reference ytablefrom hitting the surface from the workpiece with alter) within the The compliance from the O zO from the user. This configuration permits the manipulatorpneumatic cylinders that hold the top rated can be adjusted by changing the pressure of your to be controlled inside the set plane, excluding motion controlof the base (no. two in Figure 6a).The robot controller calculates the table-top on both sides in the direction of the xO axis. It was assumed that as part of the resolution of the inverse and straightforwardthree runs along a straight external controller Sensors 2021, 21, x FOR PEER REVIEWexperiment, the manipulator.
