Mini Cable Robot IPAnema – Haptic Interaction using Admittance Control

The video shows the Mini Cable Robot IPAnema installed at Fraunhofer IPA, Stuttgart, Germany. The admittance control allows the simulation of the system dynamic of spring, mass damper systems. Different test cases were demonstrated: • Phase 1: Phantom force • Phase 2: Standard dynamic • Phase 3: Positioning of the Platform • Phase 4: High dynamic • Phase 5: Stiff walls • Phase 6: Free movement Potential applications are • Teach in of points or paths (e.g. artistic work) • Manipulation aids (force amplifi