Task-Oriented Servo Loops Control of a 6-DOF Manipulator for Rescue Robot

Autor:	Wen Chang Zhang, Wei Hua Su, Fu Niu, Xu Dong Ren
Rok vydání:	2013
Předmět:	Rescue robot Engineering Mobile manipulator business.industry Bandwidth (signal processing) MIMO Parallel manipulator Robotics Control engineering General Medicine Loop performance Computer Science::Robotics Control theory Artificial intelligence business Servo
Zdroj:	Applied Mechanics and Materials. 404:663-667
ISSN:	1662-7482
DOI:	10.4028/www.scientific.net/amm.404.663
Popis:	The thesis research aimed to develop a novel approach to model and control a 6-DOF manipulator for specific tasks. The modeling and control method take into account velocity of the dynamical model. The camera and acquisition system were developed in order to significantly increase the bandwidth of the manipulator. Multi-Input and Multi-Output (MIMO) is used to optimally control the visual loop with respect to the proposed dynamical model. Experimental results on a 6-DOF manipulator for rescue robot are presented that validate the proposed model. Furthermore, a precise synchronization method is used to reduce the delays of image transfer and processing. The experiment results show a biggish improvement of the loop performance with respect to more classical control methods for 6-DOF manipulator.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a89f85487b40078219ff03eda7f2e6c3 https://doi.org/10.4028/www.scientific.net/amm.404.663 Zobrazit plný text záznamu