Sensor-based deflection modeling and compensation control of a flexible robotic manipulator

Author

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

Author_Institution

Fac. of Sci. & Technol., City Polytech. of Hong Kong, Kowloon, Hong Kong

Volume

4

fYear

1997

fDate

12-15 Oct 1997

Firstpage

3780

Abstract

A sensor-based technique is proposed for the modeling and control of the manipulator positioning errors caused by structural deflections of the flexible links. A laser optical sensor system is specially designed for measuring the deflections of each flexible link, and the robot positioning inaccuracies are thus deduced through the link deflections measured and finally compensated for in real time by adjustment of the joint variables. The principle of measurement is described, the sensor-based modeling and compensation algorithms of the robot positioning errors are presented, and the simulation results are given in the paper

Keywords

compensation; errors; flexible structures; manipulators; measurement; modelling; optical sensors; position control; real-time systems; compensation control; deflection measurement; flexible links; flexible robot manipulator; joint variable adjustment; laser optical sensor system; manipulator positioning errors; real time systems; sensor-based deflection modeling; sensor-based technique; simulation; structural deflections; Accelerometers; Automatic control; Intelligent robots; Manipulators; Optical sensors; Position measurement; Robot control; Robot sensing systems; Robotics and automation; Strain measurement;

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.1997.633258

Filename

633258