Analysis and control of a 4-DOF manipulator to operate inside narrow and long pipes

Author

Jun, Wu ; Tiemin, Li ; Liping, Wang

Author_Institution

Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing

Volume

1

fYear

0

fDate

0-0 0

Firstpage

941

Abstract

To manipulate inside a narrow and long pipes, a 4-DOF manipulator which possesses a PRRR mechanism is designed. Geometrical method is employed to deduce the kinematic equations of the mechanism, then the condition number is obtained and a group of optimal link magnitudes is determined. Then the Newton-Euler method is used to derive the dynamic model and the drive torques of all joints are calculated. According to the dynamic model, a robust control method is proposed on the basis of linear feedback theory of non-linear systems. In contrast with traditional PID control the control method presented in this paper can better reduce the tracking error of the joints, moreover the convergence of error is faster

Keywords

control system analysis; feedback; geometry; linear systems; manipulator dynamics; manipulator kinematics; nonlinear control systems; robust control; 4-DOF manipulator; Newton-Euler method; geometrical method; kinematic equations; linear feedback theory; nonlinear systems; optimal link magnitudes; robust control method; Clocks; Equations; Error correction; Feedback; Instruments; Kinematics; Manipulator dynamics; Nonlinear dynamical systems; Robust control; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

Conference_Location

The Hague

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1398424

Filename

1398424