Knowledge Commons of Institute of Automation,CAS
Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator | |
Shao-Lin Zhang1; Yue-Guang Ge1,2; Hai-Tao Wang1,2; Shuo Wang1 | |
发表期刊 | International Journal of Automation and Computing |
ISSN | 1476-8186 |
2021 | |
卷号 | 18期号:6页码:926-934 |
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. |
关键词 | Lightweight manipulator mechanical design dynamic trajectory planning compliance control robot control |
DOI | 10.1007/s11633-021-1311-2 |
语种 | 英语 |
七大方向——子方向分类 | 其他 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46099 |
专题 | 学术期刊_Machine Intelligence Research |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.University of Chinese Academy of Sciences, Beijing 100049, China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Shao-Lin Zhang,Yue-Guang Ge,Hai-Tao Wang,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,Yue-Guang Ge,Hai-Tao Wang,&Shuo 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. |
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IJAC-2021-06-143.pdf(1817KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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