Compliant Motion Control of a St a Tic All Y Balanced Direct Drive Robot
نویسندگان
چکیده
A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive robot [8]. This staticallybalanced ~t drive robot has been constructed for stability analysis of the robot in constrained manipulation [5 -7]. As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were chosen. The motors yield acceleration of 5g at the robot end point without overheating. High torque, low speed, brush-less AC synchronous motors are used to power the robot. Graphite-epoxy composite material is used for the construction of the robot links. A 4-node parallel processor has been used to control the robot. A compliant motion control method has been derived and experimentally verified to guarantee stable constrained maneuvers for the robot As a part of the research work, a general criterion has been derived to guarantee the stability of robot manipulators in constrained maneuvers.
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