Control of a 3-DOF parallel wire driven stiffness-variable manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Control of a 3-DOF parallel wire driven stiffness-variable manipulator
	Sui CP(隋春平); Zhao MY(赵明扬)
	2004
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
会议日期	August 22-26, 2004
会议地点	Shenyang, China
关键词	Parallel Wire Driven tracking control singular perturbation stiffness control
页码	204-209
中文摘要	Parallel Wire Robot (PWR) is a bionic mechanism manipulator, whose flexibility of wires is similar to the compliance of human muscles. In this paper, a 3-dof Parallel Wire Driven (PWD) manipulator configuration is presented, and the modeling and the tracking control of this kind of robot is studied. In PWD manipulators, the elastic units (wires) which are in parallel make the coupling and the nonlinearity of the model increased. So a singular perturbation theory, based on which the two-time scale control law can be obtained, is chosen as the control strategy. Then, according to the stiffness analysis results([15]), a stiffness control law which can separate stiffness control from position control is designed to realize a variable manipulator. At last, a numerical simulation is provided for verifying the theoretical researches on tracking control and stiffness control.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
会议录	IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-8641-8
WOS记录号	WOS:000234343000036
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8615]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Sui CP,Zhao MY. Control of a 3-DOF parallel wire driven stiffness-variable manipulator[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004.