Design and Iterative Learning Control of Intelligent Cooperative Manipulator

In view of the shortcomings of the existing service robot manipulator, such as low flexibility and small load, the tendon-sheath transmission is creatively applied to design a 7-DOF robotic arm. The joint and the drive module are separated by the tendon-sheath transmission and designed individually. Considering the transmission characteristics of the gear reducer and the tendon-sheath, position transmission model of the joint is built. Proportional-integral-differential (PID) controller and iterative learning controller are designed for position tracking control based on double encoders. Position control experiments of the elbow joint are carried out based on the constructed physical prototype. The experimental results show that compared with PID controller, iterative learning controller can effectively reduce the position tracking error and improve the position control accuracy. Applying this transmission method to the manipulator can improve its cost performance ratio, which provides the possibility for the large-scale application of the manipulator in more scenes.