Title :
Force, compliance and position control for a space frame manipulator
Author :
Cubero, Samuel N. ; Billingsley, John
Author_Institution :
Nat. Centre for Eng. in Agric., Univ. of Southern Queensland, Toowoomba, Qld., Australia
Abstract :
This paper describes practical methods for achieving variable force, compliance and position control for a direct-drive, pneumatically powered “variable geometry truss manipulator” (VGTM) built at University of Southern Queensland. The advantages of tetrahedral-tetrahedral VGTM structures are discussed including the kinematics for a fully operational prototype. The natural compliant behaviour of compressed gas is exploited using proportional valve control software. Experimental results are included for force and position control of a conventional pneumatic actuator
Keywords :
compliance control; force control; manipulator kinematics; pneumatic control equipment; position control; pressure control; compliance control; compressed gas; force control; kinematics; pneumatic actuator; pneumatically powered manipulator; position control; pressure control; proportional valve control; quadruped robot; space frame link; tetrahedral structures; variable geometry truss manipulator; Computational geometry; Electric motors; Force control; Hydraulic actuators; Manipulator dynamics; Orbital robotics; Position control; Robotics and automation; Stress; Valves;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on
Conference_Location :
Toowoomba, Qld.
Print_ISBN :
0-8186-8025-3
DOI :
10.1109/MMVIP.1997.625306
