Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation
This paper describes a novel approach to the robotic system’s dexterous manipulator arm design. A simulation model of the robotic system is developed in the MATLAB/Simulink environment. The designed gripper moves the dumbbells from one shelf to another using impedance and dynamics control. The novel...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Computation |
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| Online Access: | https://www.mdpi.com/2079-3197/10/9/143 |
| _version_ | 1797489832625176576 |
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| author | Sergei Kondratev Victor Meshcheryakov |
| author_facet | Sergei Kondratev Victor Meshcheryakov |
| author_sort | Sergei Kondratev |
| collection | DOAJ |
| description | This paper describes a novel approach to the robotic system’s dexterous manipulator arm design. A simulation model of the robotic system is developed in the MATLAB/Simulink environment. The designed gripper moves the dumbbells from one shelf to another using impedance and dynamics control. The novel approach to contact force control was tested. For the most accurate simulation, the size and mass parameters of the manipulator and dumbbells are determined. In addition, various force parameters such as normal, friction and damping were evaluated. The dynamic behavior of the robotic system was described by the Lagrange dynamics equations to find the acceleration of the robot’s joints during friction interaction, and the energy performance was described. The corresponding dynamic model and its analysis are the starting point for its successful solution. The analytical and numerical descriptions are obtained and can be further used for computer simulation of the system, calculation of dynamic constraints, optimization of manipulator design, synthesis of trajectory planner and motion control algorithms of dexterous manipulative robotic systems. |
| first_indexed | 2024-03-10T00:22:17Z |
| format | Article |
| id | doaj.art-e65d818ec22b4c01a9d78a31959dbe31 |
| institution | Directory Open Access Journal |
| issn | 2079-3197 |
| language | English |
| last_indexed | 2024-03-10T00:22:17Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Computation |
| spelling | doaj.art-e65d818ec22b4c01a9d78a31959dbe312023-11-23T15:41:21ZengMDPI AGComputation2079-31972022-08-0110914310.3390/computation10090143Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous ManipulationSergei Kondratev0Victor Meshcheryakov1Department of Electric Drive, Automation and Computer Science Faculty, Lipetsk State Technical University, St. Moskovskaya, 30, 398055 Lipetsk, RussiaDepartment of Electric Drive, Automation and Computer Science Faculty, Lipetsk State Technical University, St. Moskovskaya, 30, 398055 Lipetsk, RussiaThis paper describes a novel approach to the robotic system’s dexterous manipulator arm design. A simulation model of the robotic system is developed in the MATLAB/Simulink environment. The designed gripper moves the dumbbells from one shelf to another using impedance and dynamics control. The novel approach to contact force control was tested. For the most accurate simulation, the size and mass parameters of the manipulator and dumbbells are determined. In addition, various force parameters such as normal, friction and damping were evaluated. The dynamic behavior of the robotic system was described by the Lagrange dynamics equations to find the acceleration of the robot’s joints during friction interaction, and the energy performance was described. The corresponding dynamic model and its analysis are the starting point for its successful solution. The analytical and numerical descriptions are obtained and can be further used for computer simulation of the system, calculation of dynamic constraints, optimization of manipulator design, synthesis of trajectory planner and motion control algorithms of dexterous manipulative robotic systems.https://www.mdpi.com/2079-3197/10/9/143control systemsmathematical modelingautomationcomputational methodsroboticsmechatronics |
| spellingShingle | Sergei Kondratev Victor Meshcheryakov Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation Computation control systems mathematical modeling automation computational methods robotics mechatronics |
| title | Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation |
| title_full | Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation |
| title_fullStr | Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation |
| title_full_unstemmed | Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation |
| title_short | Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation |
| title_sort | modeling of 2r planar dumbbell stacker robot locomotion using force control for gripper dexterous manipulation |
| topic | control systems mathematical modeling automation computational methods robotics mechatronics |
| url | https://www.mdpi.com/2079-3197/10/9/143 |
| work_keys_str_mv | AT sergeikondratev modelingof2rplanardumbbellstackerrobotlocomotionusingforcecontrolforgripperdexterousmanipulation AT victormeshcheryakov modelingof2rplanardumbbellstackerrobotlocomotionusingforcecontrolforgripperdexterousmanipulation |