3D graphics-based off-line task teaching for a force-controlled high-speed parallel robot

In this paper, we report an approach to teach tasks to a high-speed parallel robot, HEXA, which is controlled for the position, force, and compliance all. To employ the force/compliance controlled robots for the industrial applications, it is necessary that there should be some methods to set the desired force and compliance parameters according to the tasks to carry out. Moreover such a method should facilitate a task teaching approach, reducing the operator´s labor, but with very effective results. To fulfill these requirements, we have developed a graphics-based off-line task teaching system that utilizes a 3D graphics simulator and graphics control panels. With this teaching system, we have experimentally implemented two typical tasks of crank turning and surface tracking with the parallel robot HEXA. From the achieved results, we could conclude the effectiveness of the proposed task teaching approach