Manipulator for finishing work, and control method therefor
AssigneeGwangju Institute of Science and Technology
InventorsSun Kyu Lee, Jong Jae Kim, Sang Ki Park, Dae Gweon Koh, Jae Yun Sim
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Abstract
An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.
Claims20
A manipulator for a finishing work, comprising:
- a base;
- an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints;
- and
- a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.
A method for controlling a manipulator for a finishing work, the method comprising:
- determining a driving torque of each of a plurality of actuators included in the manipulator considering a self-weight effect of the manipulator;
- and
- controlling the plurality of actuators based on the determined driving torque.
A manipulator comprising:
- a base;
- an arm comprising at least four links, at least three joints connecting the at least four links, and at least two actuators generating rotation of at least two of the at least three joints;
- an end-effector connected to an end of the arm to perform a work;
- and
- a processor determining a driving torque of each of the at least two actuators considering a self-weight of the manipulator and controlling the at least two actuators based on the determined driving torque,
- wherein the at least two joints comprise a second joint providing a leverage effect on the arm by a parallelogram structure,
- wherein the at least two actuators comprises a second actuator rotating the second joint,
- wherein the processor performs feed forward torque control through the second actuator,
- wherein the feed forward torque is
- τ
- 2
- =
- g
- 2
-
- (
- q
- )
- +
- λ
- z
-
- ∂
- h
- z
-
- (
- q
- )
- ∂
- q
- 2
- +
- λ
- x
-
- ∂
- h
- x
-
- (
- q
- )
- ∂
- q
- 2
- ,
- g2 is a gravity of the manipulator at the second joint,
- q is a displacement vector of the at least two joints,
- q2 is a displacement of the second joint,
- h is a constraint condition function of the manipulator, and
- λ is an external force vector in the end-effector.
Dependencies are inferred from the claim text.