Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator
轻型机械手的机械设计及动态柔顺控制
軽量マニピュレータの機械設計と動的コンプライアンス制御
경량 매니퓰레이터의 기계적 설계 및 동적 컴플라이언스 제어
Diseño mecánico y control de cumplimiento dinámico del manipulador ligero
Conception mécanique et contrôle de conformité dynamique du manipulateur léger
Механическая конструкция и динамический контроль соответствия легкого манипулятора
Shao-Lin Zhang 张少林 ¹, Yue-Guang Ge 葛悦光 ¹ ², Hai-Tao Wang 王海涛 ¹ ², Shuo Wang 王硕 ¹ ²
¹ State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
中国 北京 中国科学院自动化研究所 复杂系统管理与控制国家重点实验室
² University of Chinese Academy of Sciences, Beijing, 100049, China
中国 北京 中国科学院大学
International Journal of Automation and Computing, 6 November 2021
Abstract
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.
