Please use this identifier to cite or link to this item: https://doi.org/10.3182/20130410-3-CN-2034.00046
Title: Improving positioning accuracy using a general framework for macro mini manipulation
Authors: Arifin, A.S.
Ang Jr., M.H. 
Wang, L.C.
Lai, C.Y.
Keywords: Gains scheduling
Macro mini manipulator
Motion control
Positioning accuracy
Robotics
Trajectory planning
Issue Date: 2013
Source: Arifin, A.S.,Ang Jr., M.H.,Wang, L.C.,Lai, C.Y. (2013). Improving positioning accuracy using a general framework for macro mini manipulation. IFAC Proceedings Volumes (IFAC-PapersOnline) : 225-230. ScholarBank@NUS Repository. https://doi.org/10.3182/20130410-3-CN-2034.00046
Abstract: This paper introduces a general framework for macro mini manipulator to improve the positioning accuracy of an industrial manipulator. RMRC (Resolved Motion Rate Control) is used as the controller for the industrial (macro) manipulator while PID with gravity compensation is used as the controller of the mini manipulator. Gain scheduling is introduced to reduce the coupling error that arises from the motions of the macro and mini manipulator. This paper also presents a trajectory planner which ensures the macro and mini manipulator will always be inside of their respective workspaces. The experiment utilizes 7-DOF Mitsubishi PA-10 as the macro manipulator and 1-DOF voice coil actuator as the mini manipulator. The experiments show that the framework improves the position accuracy. © 2013 IFAC.
Source Title: IFAC Proceedings Volumes (IFAC-PapersOnline)
URI: http://scholarbank.nus.edu.sg/handle/10635/73532
ISBN: 9783902823311
ISSN: 14746670
DOI: 10.3182/20130410-3-CN-2034.00046
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