Design and control of a Novel 3-DOF flexible robot. Part 1: Design and evaluation
- Univ. of Oxford (United Kingdom). Dept. of Engineering Science
This paper aims to rectify a perceived imbalance between theory and experiment in the research literature on the control of flexible manipulators. Additionally, this paper reflects the common-sense notion that judicious arm design can simplify a control task, making it more tractable, thereby leading to greater physical insight into the theoretical control problem. The theme, based on previous experience with flexible manipulators, is a novel 3-DOF flexible manipulator, the Rotabot, designed and constructed at the Oxford University Robotics Laboratory. The arm is an experimental concept design for a full-sized industrial flexible arm, where the tractability of the final control problem has been a major design driver. As Part 1 of a two-part series, this paper describes the different design features of the Rotabot. Part 2 explains the controller design. The kinematic and dynamic properties of the arm are evaluated, and the key design properties are demonstrated by simulation. A full model that includes transmission compliance is presented, which forms the basis of the controller in Part 2. Experimental results derived from extensive identification exercises are used to confirm the arm properties predicted by simulation.
- Sponsoring Organization:
- USDOE
- OSTI ID:
- 316110
- Journal Information:
- International Journal of Robotics Research, Journal Name: International Journal of Robotics Research Journal Issue: 11 Vol. 17; ISSN IJRREL; ISSN 0278-3649
- Country of Publication:
- United States
- Language:
- English
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