A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

Abstract

Stress signal is difficult to obtain in the health monitoring of multibody manipulator. In order to solve this problem, a soft sensor method is presented. In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary variable. By establishing the mathematical relationship between them, a soft sensor model is proposed. In the model, the stress information can be deduced by angle information which can be easily measured for such structures by experiments. Finally, test of ground and wall working conditions is done on a multibody manipulator test rig. The results show that the stress calculated by the proposed method is closed to the test one. Thus, the stress signal is easier to get than the traditional method. All of these prove that the model is correct and the method is feasible.

Decentralized adaptive force/position control of reconfigurable manipulator based on soft sensors

“…So, in recent years, many scholars have invested in the research of force control methods based on soft sensor technology. Ren et al 16 and Cho et al 17 present a soft sensor method to solve the problem that stress signal is difficult to obtain in the health monitoring of multibody manipulator. In the method, stress signal is considered as dominant variable, and angle signal is regarded as auxiliary variable.…”