Force, compliance and position control for a space frame manipulator

Cubero, Samuel N. and Billingsley, John ORCID: https://orcid.org/0000-0002-7198-5594 (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
Additional Information: © 1997 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Faculty/School / Institute/Centre: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Faculty/School / Institute/Centre: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
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 (2008): 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
Fields of Research (2020): 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400799 Control engineering, mechatronics and robotics not elsewhere classified
40 ENGINEERING > 4001 Aerospace engineering > 400101 Aerospace materials
40 ENGINEERING > 4017 Mechanical engineering > 401706 Numerical modelling and mechanical characterisation
Socio-Economic Objectives (2008): E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI: https://doi.org/10.1109/MMVIP.1997.625306
URI: http://eprints.usq.edu.au/id/eprint/10257

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