Dynamic Modeling and Control for a Deployable Grasping Manipulator
This paper presents a special type of truss-shaped deployable grasping manipulator (DGM) that is suitable for grasping the large-scale objects, but its dynamic modeling is a challenging task because of its multiple closed-loop structures. To address this issue, an iterative dynamic modeling approach...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8635466/ |
| _version_ | 1818913152127991808 |
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| author | Guotao Li Hailin Huang Hongwei Guo Bing Li |
| author_facet | Guotao Li Hailin Huang Hongwei Guo Bing Li |
| author_sort | Guotao Li |
| collection | DOAJ |
| description | This paper presents a special type of truss-shaped deployable grasping manipulator (DGM) that is suitable for grasping the large-scale objects, but its dynamic modeling is a challenging task because of its multiple closed-loop structures. To address this issue, an iterative dynamic modeling approach is proposed. First, the mechanism structure of the DGM is introduced. Second, the kinematics of the basic deployable parallel mechanism unit with scissor-shaped elements is established, and then, its deployment dynamics are modeled based on the Lagrange method. Third, an iterative dynamic modeling approach for the DGM is proposed to realize the real-time computation based on the recursive Newton-Euler method. Then, a controller with the desired feedforward dynamic compensation for the DGM is proposed to improve the control performance in comparison with the one without feedforward. Finally, experiments are completed to verify the proposed controller on a DGM, and experimental results show that the proposed controller is effective. |
| first_indexed | 2024-12-19T23:25:56Z |
| format | Article |
| id | doaj.art-ab794fd075d34cb293217f8edd59a607 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T23:25:56Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-ab794fd075d34cb293217f8edd59a6072022-12-21T20:01:52ZengIEEEIEEE Access2169-35362019-01-017230002301110.1109/ACCESS.2019.28976898635466Dynamic Modeling and Control for a Deployable Grasping ManipulatorGuotao Li0https://orcid.org/0000-0002-5304-3253Hailin Huang1https://orcid.org/0000-0002-8882-8165Hongwei Guo2https://orcid.org/0000-0001-7498-6755Bing Li3https://orcid.org/0000-0002-5055-8921Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, ChinaDepartment of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaDepartment of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, ChinaThis paper presents a special type of truss-shaped deployable grasping manipulator (DGM) that is suitable for grasping the large-scale objects, but its dynamic modeling is a challenging task because of its multiple closed-loop structures. To address this issue, an iterative dynamic modeling approach is proposed. First, the mechanism structure of the DGM is introduced. Second, the kinematics of the basic deployable parallel mechanism unit with scissor-shaped elements is established, and then, its deployment dynamics are modeled based on the Lagrange method. Third, an iterative dynamic modeling approach for the DGM is proposed to realize the real-time computation based on the recursive Newton-Euler method. Then, a controller with the desired feedforward dynamic compensation for the DGM is proposed to improve the control performance in comparison with the one without feedforward. Finally, experiments are completed to verify the proposed controller on a DGM, and experimental results show that the proposed controller is effective.https://ieeexplore.ieee.org/document/8635466/Deployable grasping manipulatordeployment motiondynamic modelingfeedforward control |
| spellingShingle | Guotao Li Hailin Huang Hongwei Guo Bing Li Dynamic Modeling and Control for a Deployable Grasping Manipulator IEEE Access Deployable grasping manipulator deployment motion dynamic modeling feedforward control |
| title | Dynamic Modeling and Control for a Deployable Grasping Manipulator |
| title_full | Dynamic Modeling and Control for a Deployable Grasping Manipulator |
| title_fullStr | Dynamic Modeling and Control for a Deployable Grasping Manipulator |
| title_full_unstemmed | Dynamic Modeling and Control for a Deployable Grasping Manipulator |
| title_short | Dynamic Modeling and Control for a Deployable Grasping Manipulator |
| title_sort | dynamic modeling and control for a deployable grasping manipulator |
| topic | Deployable grasping manipulator deployment motion dynamic modeling feedforward control |
| url | https://ieeexplore.ieee.org/document/8635466/ |
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