Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator
文献类型：期刊论文
| 作者 | Shao-Lin Zhang2 ; Shuo Wang; Yue-Guang Ge; Hai-Tao Wang
|
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:6页码:926-934 |
| 关键词 | Lightweight manipulator mechanical design dynamic trajectory planning compliance control robot control |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-021-1311-2 |
| 英文摘要 | In the existing modular joint design and control methods of collaborative robots, the inertia of the manipulator link is large, the dynamic trajectory planning ability is weak, the collision stop safety strategy is dependent, and the adaptability and safety to the changing environment are limited. This paper develops a six-degree-of-freedom lightweight collaborative manipulator with real-time dynamic trajectory planning and active compliance control. Firstly, a novel motor installation, joint transmission, and link design method is put forward to reduce the inertia of the links and improve intrinsic safety. At the same time, to enhance the dynamic operation capability and quick response of the manipulator, a smooth planning of position and orientation under initial/end pose and velocity constraints is proposed. The adaptability to the environment is improved by the active compliance control. Finally, experiments are carried out to verify the effectiveness of the proposed design, planning, and control methods. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46099]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China |
| 推荐引用方式 GB/T 7714 | Shao-Lin Zhang,Shuo Wang,Yue-Guang Ge,et al. Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator[J]. International Journal of Automation and Computing,2021,18(6):926-934. |
| APA | Shao-Lin Zhang,Shuo Wang,Yue-Guang Ge,&Hai-Tao Wang.(2021).Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator.International Journal of Automation and Computing,18(6),926-934. |
| MLA | Shao-Lin Zhang,et al."Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator".International Journal of Automation and Computing 18.6(2021):926-934. |
入库方式： OAI收割
来源：自动化研究所
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