Force, compliance and position control for a space frame manipulator

Author

Cubero, Samuel N. ; Billingsley, John

Author_Institution

Nat. Centre for Eng. in Agric., Univ. of Southern Queensland, Toowoomba, Qld., Australia

fYear

1997

fDate

23-25 Sep 1997

Firstpage

124

Lastpage

129

Abstract

This paper describes practical methods for achieving variable force, compliance and position control for a direct-drive, pneumatically powered “variable geometry truss manipulator” (VGTM) built at University of Southern Queensland. The advantages of tetrahedral-tetrahedral VGTM structures are discussed including the kinematics for a fully operational prototype. The natural compliant behaviour of compressed gas is exploited using proportional valve control software. Experimental results are included for force and position control of a conventional pneumatic actuator

Keywords

compliance control; force control; manipulator kinematics; pneumatic control equipment; position control; pressure control; compliance control; compressed gas; force control; kinematics; pneumatic actuator; pneumatically powered manipulator; position control; pressure control; proportional valve control; quadruped robot; space frame link; tetrahedral structures; variable geometry truss manipulator; Computational geometry; Electric motors; Force control; Hydraulic actuators; Manipulator dynamics; Orbital robotics; Position control; Robotics and automation; Stress; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on

Conference_Location

Toowoomba, Qld.

Print_ISBN

0-8186-8025-3

Type

conf

DOI

10.1109/MMVIP.1997.625306

Filename

625306