Title :
Design and control of a 3-DOF in-parallel actuated manipulator
Author :
Pfreundschuh, George H. ; Kumar, Vijay ; Sugar, Thomas G.
Author_Institution :
AT&T Bell Lab., Whippany, NJ, USA
Abstract :
The mechanics, design, control, and experimental results for a 3-DOF (degree-of-freedom) in-parallel, pneumatically actuated manipulator are presented. The manipulator consists of two platforms connected by three serial chains. It is naturally compliant in translation along the approach direction as well as in rotations about axes perpendicular to the approach direction, while it is stiff in other directions. The kinematic design allows the three relative DOF between the two plates of the manipulator to accommodate uncertainties and sustain impacts while contacting and interacting with unknown environments. Experimental results show that, with a sampling rate of 100 Hz, the position control bandwidth of a single actuator servo system is 11 Hz, while the force control bandwidth is 10 Hz. These figures also reflect the bandwidth and the performance of the complete system
Keywords :
control system synthesis; force control; kinematics; position control; robots; servomechanisms; 10 Hz; 100 Hz; 11 Hz; 3-DOF in-parallel actuated manipulator; actuator servo system; control system synthesis; force control; kinematic design; pneumatically actuated manipulator; position control; robots; sampling rate; serial chains; Force control; Jacobian matrices; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Prototypes; Robots; Uncertainty; Wrist;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131857
