CONTROL FRAMEWORK FOR A MACRO/MINI MANIPULATOR

Abstract

This thesis proposes an end-effector module for industrial robotic arms and a control framework of macro/mini manipulator, targeting on industrial finishing applications. The developed end-effector has remarkable mechanical properties such as high stiffness and compactness in size. It can be controlled to achieve either a high position accuracy in following a trajectory, or a compliance motion in response to an external force. Integrated with industrial robots, the end-effector module provides fine motion and extra dexterity at the end-point of the macro/mini manipulator. Following aspects of the developed end-effector are presented in this thesis: mechanical design, kinematic analysis, dynamic modelling and control structure. A control strategy, namely, mid-ranging control, is proposed for the end-effector module and industrial robot to cooperate with each other as a macro/mini manipulator. The performance of the macro/mini manipulator is evaluated through experiments on workpieces sent in from industry.