(Peer-Reviewed) Mechanical Design and Dynamic Compliance Control of Lightweight Manipulator
Shao-Lin Zhang 张少林 ¹, Yue-Guang Ge 葛悦光 ¹ ², Hai-Tao Wang 王海涛 ¹ ², Shuo Wang 王硕 ¹ ²
¹ State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
中国 北京 中国科学院自动化研究所 复杂系统管理与控制国家重点实验室
² University of Chinese Academy of Sciences, Beijing, 100049, China
中国 北京 中国科学院大学
Abstract
In the existing modular joint design and control methods of collaborative robots, the inertia of the manipulator link is large, the dynamic trajectory planning ability is weak, the collision stop safety strategy is dependent, and the adaptability and safety to the changing environment are limited.
This paper develops a six-degree-of-freedom lightweight collaborative manipulator with real-time dynamic trajectory planning and active compliance control. Firstly, a novel motor installation, joint transmission, and link design method is put forward to reduce the inertia of the links and improve intrinsic safety.
At the same time, to enhance the dynamic operation capability and quick response of the manipulator, a smooth planning of position and orientation under initial/end pose and velocity constraints is proposed. The adaptability to the environment is improved by the active compliance control. Finally, experiments are carried out to verify the effectiveness of the proposed design, planning, and control methods.
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