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
收藏
页码：208 / 213
页数：6
相关论文
共 50 条
  • [1] Three-degrees-of-freedom Flexible Robot Position Control Robust to Load Changes
    Partida, Gonzalo
    Jaramillo, Victor H.
    Feliu, Vicente
    2010 IEEE CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA), 2010,
  • [2] OPTIMAL CONTROL OF THE FLEXIBLE LINK MANIPULATOR WITH CONTROLLABLE LOCAL DEGREES OF FREEDOM
    Bian Yushu
    Yun Chao
    Gao Zhihui
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2008, 21 (04) : 27 - 30
  • [3] Motion control of the flexible manipulator via controllable local degrees of freedom
    Yushu Bian
    Zhihui Gao
    Chao Yun
    Nonlinear Dynamics, 2009, 55 : 373 - 384
  • [4] Motion control of the flexible manipulator via controllable local degrees of freedom
    Bian, Yushu
    Gao, Zhihui
    Yun, Chao
    NONLINEAR DYNAMICS, 2009, 55 (04) : 373 - 384
  • [5] Adaptive position control of three degrees freedom platform
    Taheri, Asghar
    Tarihi, Mohammad Reza
    ICIEA 2006: 1ST IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS, VOLS 1-3, PROCEEDINGS, 2006, : 377 - 381
  • [6] Adaptive position control of three degrees freedom platform
    Taheri, Asghar
    Tarihi, Mohammad Reza
    2006 1st IEEE Conference on Industrial Electronics and Applications, Vols 1-3, 2006, : 1466 - 1470
  • [7] Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator
    Ouyang, P. R.
    Pano, V.
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2014, 136 (02):
  • [8] Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation
    Krivosej, Jan
    Sika, Zbynek
    MACHINES, 2021, 9 (12)
  • [9] Anthropomorphic manipulator system of three degrees of freedom
    Aguirre Gil, Inaki
    Andueza, Luis
    Arismendi, Cesar
    REVISTA ITECKNE, 2011, 8 (01): : 87 - 95
  • [10] Application of Reinforcement Learning to the Orientation and Position Control of a 6 Degrees of Freedom Robotic Manipulator
    Campos, Felipe Rigueira
    Fidencio, Aline Xavier
    Domingues, Jaco
    Pessin, Gustavo
    Freitas, Gustavo
    2022 LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS), 2022 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR), AND 2022 WORKSHOP ON ROBOTICS IN EDUCATION (WRE), 2022, : 187 - 192
12345