TY - GEN
T1 - Development of Macro-Micro Robot with a Compliant End Effector for Putty Applying
AU - Chen, Dayuan
AU - Li, Kang
AU - Jiang, Xin
AU - Liu, Yunhui
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9/28
Y1 - 2020/9/28
N2 - A system architecture for an interior putty applying robot is presented in this paper. In order to adapt to the complex scenes on the construction site, the robot is required to have a flexible movement space and the ability to interact with the external environment to protect surrounding objects and the robot itself. Therefore, a 9 degree of freedom(DOF) redundant robot consisting of a 6 DOF series robot and a 3 DOF parallel robot is designed in this paper to achieve a flexible motion space. The gradient projection algorithm and the weighted matrix are used to ensure the reasonable distribution of joint motion. At the same time, a compliant end effector(EE) based on an impedance controller is designed to respond to external environmental interactions and improve the smoothness of putty applying. Finally, simulation and experimental results verify the feasibility of redundant robot kinematics algorithms and compliant EE.
AB - A system architecture for an interior putty applying robot is presented in this paper. In order to adapt to the complex scenes on the construction site, the robot is required to have a flexible movement space and the ability to interact with the external environment to protect surrounding objects and the robot itself. Therefore, a 9 degree of freedom(DOF) redundant robot consisting of a 6 DOF series robot and a 3 DOF parallel robot is designed in this paper to achieve a flexible motion space. The gradient projection algorithm and the weighted matrix are used to ensure the reasonable distribution of joint motion. At the same time, a compliant end effector(EE) based on an impedance controller is designed to respond to external environmental interactions and improve the smoothness of putty applying. Finally, simulation and experimental results verify the feasibility of redundant robot kinematics algorithms and compliant EE.
UR - https://www.scopus.com/pages/publications/85099397068
U2 - 10.1109/RCAR49640.2020.9303321
DO - 10.1109/RCAR49640.2020.9303321
M3 - 会议稿件
AN - SCOPUS:85099397068
T3 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
SP - 193
EP - 198
BT - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Y2 - 28 September 2020 through 29 September 2020
ER -