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Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
Joint Authors
Gao, Bingtuan
Jiang, Leijie
Zhu, Zhenyu
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-08-30
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement.
In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint.
In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint.
And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation.
Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method.
Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.
American Psychological Association (APA)
Jiang, Leijie& Gao, Bingtuan& Zhu, Zhenyu. 2017. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot. Shock and Vibration،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1204184
Modern Language Association (MLA)
Jiang, Leijie…[et al.]. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot. Shock and Vibration No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1204184
American Medical Association (AMA)
Jiang, Leijie& Gao, Bingtuan& Zhu, Zhenyu. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot. Shock and Vibration. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1204184
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1204184