Motion Planning and Compliance Control Method for Direct Drive Vacuum Manipulator
文献类型：会议论文
| 作者 | Zhang ZF(张泽锋)1,2,3,4 ; Xu F(徐方)1,2,4
|
| 出版日期 | 2021 |
| 会议日期 | December 24-26, 2021 |
| 会议地点 | Nanchang, Jiangxi, China |
| 关键词 | Dynamic modeling Kinematic modeling Motor control Servo system Vacuum manipulator |
| 页码 | 120-125 |
| 英文摘要 | In robotics, robot forward and inverse kinematics and dynamics are the foundation of robot research. Aiming at the special working environment and wafer falling off of mag8 vacuum manipulator produced by Shenyang SIASUN Robot Automation Co., Ltd., this paper completes the research on motion planning and compliance control of the manipulator. Firstly, its mechanical structure and motion mode are briefly introduced, which can realize the lifting, rotation and telescopic actions of both arms. Secondly, the robot kinematics model is established by MDH method, and the robot dynamics model is established by Lagrange method. Finally, experiments are carried out through MATLAB robot toolbox to verify the correctness of forward and inverse kinematics and dynamic model. The experimental results show that the dual arm model established in this paper effectively simulates the actual working state, which lays a foundation for further physical platform operation. |
| 源文献作者 | East China Jiaotong University ; Hebei University of Technology ; Jiangxi University of Finance and Economics ; Nanchang Hangkong University ; Nanchang University ; Shijiazhuang Tiedao University |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2021 International Conference on Information Technology and Biomedical Engineering, ICITBE 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-0099-2 |
| 源URL | [http://ir.sia.cn/handle/173321/30755]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Zhang ZF(张泽锋) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences 3.University of Chinese Academy of Sciences 4.SIASUN Robot and Automation Co. |
| 推荐引用方式 GB/T 7714 | Zhang ZF,Xu F. Motion Planning and Compliance Control Method for Direct Drive Vacuum Manipulator[C]. 见:. Nanchang, Jiangxi, China. December 24-26, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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