Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
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 fl...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2017/2762169 |
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| _version_ | 1832552275937067008 |
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| author | Leijie Jiang Bingtuan Gao Zhenyu Zhu |
| author_facet | Leijie Jiang Bingtuan Gao Zhenyu Zhu |
| author_sort | Leijie Jiang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-199d22a3c9164e0d908fe73825e2c1a4 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-199d22a3c9164e0d908fe73825e2c1a42025-02-03T05:58:57ZengWileyShock and Vibration1070-96221875-92032017-01-01201710.1155/2017/27621692762169Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint RobotLeijie Jiang0Bingtuan Gao1Zhenyu Zhu2School of Electrical Engineering, Southeast University, Nanjing 210096, ChinaSchool of Electrical Engineering, Southeast University, Nanjing 210096, ChinaSchool of Electrical Engineering, Southeast University, Nanjing 210096, ChinaThe 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.http://dx.doi.org/10.1155/2017/2762169 |
| spellingShingle | Leijie Jiang Bingtuan Gao Zhenyu Zhu Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot Shock and Vibration |
| title | Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot |
| title_full | Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot |
| title_fullStr | Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot |
| title_full_unstemmed | Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot |
| title_short | Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot |
| title_sort | design and nonlinear control of a 2 dof flexible parallel humanoid arm joint robot |
| url | http://dx.doi.org/10.1155/2017/2762169 |
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