A 7-DOF redundantly actuated parallel haptic device combining 6-DOF manipulation and 1-DOF grasping

Lambert, Patrice; Herder, Just L.

doi:10.1016/j.mechmachtheory.2019.01.002

Cited by 41 publications

(18 citation statements)

References 11 publications

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“…First, let the differential coefficient and integral coefficient K d = K t = 0, increase the proportional coefficient K p until the system starts to vibrate, then multiply the K p value by 0.6 to get the final K p value. Add step disturbance to the system, change the parameters of the regulator, observe the step response curve of the regulator output, and repeat the test until the control quality is satisfactory, the control parameters are determined as follows: Feedback gain K p = 93eye (7), and K v = 64eye(7), g = 1000, Q = 100eye(2). In the experiment, set the trajectory of manipulator end as straight line, arc, and curve.…”

Section: Simulation Results and Analysismentioning

confidence: 99%

Research on trajectory tracking control of 7-DOF picking manipulator

Sun

Cao

2021

Science Progress

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In order to solve the problem of poor robustness of the traditional method of calculating torque in the mechanical model of 7-DOF picking manipulator, this paper proposes a control strategy of calculating torque plus fuzzy compensation by using adaptive fuzzy logic system to compensate the uncertain part of the mechanical model of 7-DOF picking manipulator. By using Lagrange method, the dynamic model of 7-DOF manipulator is established, and the relationship between joint motion and applied torque (force) is obtained. Using ADAMS and MATLAB to establish a co-simulation platform, the manipulator and trajectory tracking control system are simulated. The results show that the trajectory tracking error of each joint in the algorithm is obviously reduced and the convergence trend is obvious. The average trajectory tracking accuracy of joint 1 to joint 7 was improved by 70.22%, 94.78%, 0.62%, 74.23%, 89.78%, 86.45%, and 67.15%, respectively. In this control scheme, the control force (moment) of each joint changes regularly, and the output force (moment) does not appear chattering and mutation when the disturbance signal is added. The research results can provide support for the further study of picking manipulator trajectory tracking control system.

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Section: Simulation Results and Analysismentioning

confidence: 99%

Research on trajectory tracking control of 7-DOF picking manipulator

Sun

Cao

2021

Science Progress

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“…Lambert et al [23] studied "PentaG", a 5-DoFs spatial robot with two EEs able to grasp objects and perform Schönflies motion; its architecture was later generalized to a 7-DoFs haptic interface with redundant actuation [24]. Two spatial, 3-DoF PRCPs with a similar concept were presented in [25].…”

Section: Introductionmentioning

confidence: 99%

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

et al. 2021

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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.

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“…Huang [13] has proposed a general design method for spatial 3-DOF isotropic manipulators, and developed 6-DOF or redundant manipulators applying 3-DOF robots as modules. Considering the operation and grasping requirements of the mechanism, Ozgür [14], Lambert [15] have analyzed the DOF and structure of the planar as well as the space manipulator, and designed a manipulator that could meet the grasping performance. Gao [16], Liang [17] considered the shape diversity of the grasped object, and designed a manipulator to realize the self-adaptive enveloping grasp.…”

Section: Introductionmentioning

confidence: 99%

Research on a ø6m TBM Steel Arch Splicing Manipulator

He¹,

Xia²,

Xu³

et al. 2021

Preprint

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As a challenging task, the robotic splicing of steel arch is required to realize the grasping and docking of steel arches in a limited space. The steel arches often have a mass of over 200kg and a length of over 4m. Due to the large volume and mass of steel arches and the high requirements for the positioning accuracy of splicing, it is difficult for the general manipulator to meet its flexibility and stiffness requirements. The single-degree-of-freedom(DOF) closed-loop mechanism has a simple and reliable structure. Adding it into the manipulator can effectively improve the dynamic performance and increase the structural stiffness. In this paper, a solution model of a single-DOF closed-loop planar mechanism is presented, and alternative kinematic pairs of the mechanism with different input constraints and output requirements are derived. Based on this model, a design method of steel arch splicing manipulator with single-DOF closed-loop grasping structure is proposed. All the optional basic configurations of the manipulator are deduced, and then the optimal configuration is obtained by using the performance indexes. A prototype of the steel arch splicing manipulator is manufactured, and the reliability of the manipulator is proved by experiments.

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A 7-DOF redundantly actuated parallel haptic device combining 6-DOF manipulation and 1-DOF grasping

Cited by 41 publications

References 11 publications

Research on trajectory tracking control of 7-DOF picking manipulator

Research on trajectory tracking control of 7-DOF picking manipulator

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Research on a ø6m TBM Steel Arch Splicing Manipulator

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A 7-DOF redundantly actuated parallel haptic device combining 6-DOF manipulation and 1-DOF grasping

Cited by 41 publications

References 11 publications

Research on trajectory tracking control of 7-DOF picking manipulator

Research on trajectory tracking control of 7-DOF picking manipulator

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Research on a&nbsp;ø6m TBM&nbsp;Steel Arch Splicing Manipulator

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Research on a ø6m TBM Steel Arch Splicing Manipulator