Title :
Force unloading of a flexible manipulator link
Author :
Cheboxarov, Victor V.
Author_Institution :
Dept. of Mech. Eng., Far Eastern State Tech. Univ., Vladivostok, Russia
Abstract :
A new approach to the design of light manipulator arms with long links is proposed in this paper. In contrast with traditional schemes, a flexible link is provided with a special force unloading system (FUS) having electrohydraulic drives. As a result, the static and dynamic errors caused by link structural deflections are minimized. Strategy of control the unloading actuators with measuring strain is developed. FUS dynamics is investigated by digital simulation and it is found to be an effective means to significantly decrease link flexibility and to dampen bending vibration. A digital controller for the FUS is suggested. The model of FUS dynamics is experimentally verified with a full scale prototype.
Keywords :
damping; digital control; electric actuators; electrohydraulic control equipment; errors; flexible manipulators; minimisation; vibration control; FUS; bending vibration damping; digital controller; digital simulation; dynamic errors; electrohydraulic drives; error minimization; flexible manipulator link; force unloading system; light manipulator arms; link flexibility; link structural deflections; static errors; Actuators; Arm; Control systems; Electrohydraulics; Manipulator dynamics; Mechanical engineering; Robots; Strain control; Strain measurement; Vibration control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932960
