TY - GEN
T1 - Design, Kinematics and Control of a Modular Cable-Driven Manipulator for Fine Manipulation
AU - Li, Wenshuo
AU - Xu, Wenfu
AU - Lin, Boyang
AU - Yan, Lei
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Considering with the parameter and task requirements of the fine manipulation, the mechanical system of the modular cable-driven manipulator (MCDM) is designed in this paper. The mechanical part is mainly composed of the manipulator and the drive box, and the modular design makes it easier to replace the damaged parts. The use of a gimbal with a built-in magnetic encoder and a tension sensor at the end of the rope enhances the ability to detect the current state of the robot and the design of the closed-loop/compliant controller. Firstly, we proposed the forward and inverse kinematics of the fine manipulation robot. The closed-loop and compliant controller of the manipulator is then designed using a magnetic encoder in the gimbal and a tensile force sensor at the end of the rope. Finally, the experiments of the closed-loop/compliant control was carried out. The experiments showed that the MCDM with the closed-loop control has high accuracy, strong load capacity and stability, and can complete the fine manipulation task excellently.
AB - Considering with the parameter and task requirements of the fine manipulation, the mechanical system of the modular cable-driven manipulator (MCDM) is designed in this paper. The mechanical part is mainly composed of the manipulator and the drive box, and the modular design makes it easier to replace the damaged parts. The use of a gimbal with a built-in magnetic encoder and a tension sensor at the end of the rope enhances the ability to detect the current state of the robot and the design of the closed-loop/compliant controller. Firstly, we proposed the forward and inverse kinematics of the fine manipulation robot. The closed-loop and compliant controller of the manipulator is then designed using a magnetic encoder in the gimbal and a tensile force sensor at the end of the rope. Finally, the experiments of the closed-loop/compliant control was carried out. The experiments showed that the MCDM with the closed-loop control has high accuracy, strong load capacity and stability, and can complete the fine manipulation task excellently.
KW - Closed-loop control
KW - Compliant control
KW - Kinematic model
KW - Modular cable-driven manipulator
UR - https://www.scopus.com/pages/publications/85147334002
U2 - 10.1109/ROBIO55434.2022.10011914
DO - 10.1109/ROBIO55434.2022.10011914
M3 - 会议稿件
AN - SCOPUS:85147334002
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 833
EP - 838
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -