Path error compensation of a two-link flexible robot arm based on integrated laser transducers

Author

Wang, X.S. ; Xu, W.L. ; Tso, S.K. ; Zhang, J.Z.

Author_Institution

Dept. of Mech. Eng., Southeast Univ., Nanjing, China

Volume

4

fYear

1997

fDate

12-15 Oct 1997

Firstpage

3786

Abstract

A macro-micro robot system is a conventional large robot (macro robot) plus a small robot (micro robot) mounted at the end point of the large robot. The macro robot carries the micro robot to the vicinity of the task, whilst the micro robot achieves the precise manipulation. Such a robot system can provide all the features of both the macro robot and the micro robot. In this investigation a planar two-link flexible robot is used as the macro-robot, an integrated laser-PSD transducer for measuring the position of the end-effector, and a micro robot consisting of translational and rotational joints for compensating for the dynamic path errors of the macro flexible robot in real time. Simulation and experimental results are given

Keywords

error compensation; flexible structures; manipulators; mobile robots; path planning; position measurement; real-time systems; transducers; compensation; dynamic path errors; end-effector; integrated laser transducers; large robot; laser-PSD transducer; macro-micro robot system; manipulation; mobile robot; path error compensation; position measurement; real time; rotational joints; simulation; small robot; translational joints; two-link flexible robot arm; Error compensation; Intelligent robots; Laser theory; Machine intelligence; Manipulator dynamics; Orbital robotics; Robot sensing systems; Robotics and automation; Service robots; Transducers;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.633259

Filename

633259