Force, compliance and position control for a space frame manipulator

Cubero, Samuel N. and Billingsley, John (1997) Force, compliance and position control for a space frame manipulator. In: MViP 1997: 4th Annual Conference on Mechatronics and Machine Vision in Practice, 23-25 Sep 1997, Toowoomba, Australia.

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.


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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 30 Nov 2007 11:55
Last Modified: 05 Mar 2018 05:10
Uncontrolled Keywords: valves; engineering software; actuator; compliance control; compressed gas; force control
Fields of Research : 09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0901 Aerospace Engineering > 090102 Aerospace Materials
09 Engineering > 0913 Mechanical Engineering > 091307 Numerical Modelling and Mechanical Characterisation
Socio-Economic Objective: E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI: 10.1109/MMVIP.1997.625306
URI: http://eprints.usq.edu.au/id/eprint/10257

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