Monitoring and Control of Position and Attitude of Flexible Manipulator with Three Degrees of Freedom

被引：3

作者：

Yang, Bangchu ^{[1
]}

Wang, Wenbiao ^{[1
]}

Meng, Hailiang ^{[1
]}

Wan, Weiwei ^{[2
]}

Bao, Guanjun ^{[1
]}

机构：

[1] Zhejiang Univ Technol, Coll Mech Engn, Hangzhou 310032, Zhejiang, Peoples R China

[2] Osaka Univ, Machikaneyama 1-3, Toyonaka, Osaka 5608531, Japan

来源：

2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019) | 2019年

关键词：

flexible manipulator; kinematics model; position and attitude measurement; PID control; DESIGN;

D O I：

10.1109/icarm.2019.8834019

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Aiming at the problem that the kinematics modeling and control of flexible manipulator are difficult and the research in the field of sensor feedback is insufficient, we design and manufacture a flexible manipulator based on three pneumatic muscles. Base on the flexible manipulator and the kinematic model of that, an experimental platform was built which can be used to monitor and control the position and attitude of flexible manipulators. The results of open-loop experiments show that the position and attitude of the flexible manipulator is consistent with the kinematics model, which verifies the validity of the kinematics model and the feasibility of the sensing system. The results of Pill closed-loop control experiments show that the flexible manipulator has controllability.

引用

页码：208 / 213

页数：6

共 50 条

[21] A New Four-Degrees-of-Freedom Parallel Manipulator [J].

Garcia, M. A. ;

Gallardo, J. ;

Rodriguez, R. ;

Alcaraz, L. A. .

IEEE LATIN AMERICA TRANSACTIONS, 2017, 15 (05) :928-934

[22] Vibration control of flexible manipulator with unknown control direction [J].

Li, Le ;

Cao, Fangfei ;

Liu, Jinkun .

INTERNATIONAL JOURNAL OF CONTROL, 2021, 94 (10) :2690-2702

[23] Position control of a two-link flexible manipulator using piezoelectric actuators [J].

Choi, SB ;

Shin, HC ;

Kim, HK ;

Kim, JH .

SMART STRUCTURES AND MATERIALS 1999: MATHEMATICS AND CONTROL IN SMART STRUCTURES, 1999, 3667 :211-218

[24] Position Control of Flexible Manipulator using PSO-tuned PID Controller [J].

Hizarci, Berkan ;

Ikizoglu, Serhat .

2019 INNOVATIONS IN INTELLIGENT SYSTEMS AND APPLICATIONS CONFERENCE (ASYU), 2019, :203-207

[25] A heliostat based on a three degree-of-freedom parallel manipulator [J].

Shyam, R. B. Ashith ;

Acharya, Mohit ;

Ghosal, A. .

SOLAR ENERGY, 2017, 157 :672-686

[26] Digital control of a flexible manipulator [J].

Goh, SP ;

Plummer, AR ;

Brown, MD .

PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, :2205-2209

[27] ON THE CONTROL OF FLEXIBLE MANIPULATOR ARM [J].

PETRIC, J ;

KECMAN, V .

STROJARSTVO, 1990, 32 (06) :425-431

[28] The Effect of Redundant Degrees of Freedom on Manipulator's Kinematic Characteristics [J].

Xu, Qinhuan ;

Zhan, Qiang ;

Cao, Xiujie .

PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ROBOTICS, CONTROL AND AUTOMATION ENGINEERING (RAE 2018) AND INTERNATIONAL CONFERENCE ON ADVANCED MECHANICAL AND ELECTRICAL ENGINEERING (AMEE 2018), 2018, :127-131

[29] Tip Position Control and Vibration Suppression of a Planar Two-Link Rigid-Flexible Underactuated Manipulator [J].

Meng, Qingxin ;

Lai, Xuzhi ;

Yan, Ze ;

Wu, Min .

IEEE TRANSACTIONS ON CYBERNETICS, 2022, 52 (07) :6771-6783

[30] Position Tracking and Control of Lightweight Flexible Joint Manipulator Robolink® using Kinect Sensor [J].

Stathopoulos, Ioannis ;

Papandreou, Foivos ;

Manesis, Stamatios .

2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2018, :788-793

← 1 2 3 4 5 →