Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/141259
Title: | CONTROL FRAMEWORK FOR A MACRO/MINI MANIPULATOR | Authors: | MA ZHENG | ORCID iD: | orcid.org/0000-0002-3259-3504 | Keywords: | macro/mini manipulators, end-effector module, industrial manipulators, parallel mechanism, hybrid position/force control, finishing applications | Issue Date: | 4-Jan-2018 | Citation: | MA ZHENG (2018-01-04). CONTROL FRAMEWORK FOR A MACRO/MINI MANIPULATOR. ScholarBank@NUS Repository. | 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. | URI: | http://scholarbank.nus.edu.sg/handle/10635/141259 |
Appears in Collections: | Ph.D Theses (Open) |
Show full item record
Files in This Item:
File | Description | Size | Format | Access Settings | Version | |
---|---|---|---|---|---|---|
MaZ.pdf | 7.62 MB | Adobe PDF | OPEN | None | View/Download |
Google ScholarTM
Check
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.