Kinematic Simulation and Control Design of the Agile Wrist in A Dual-arm Robotic Mechanical Systems
In order to improve space positioning accuracy of the Agile Wrist consisting of a modified spherical parallel manipulator, which will influence the result of the Collisions in a robotic mechanical testbed directly, this paper explores the motion control of Agile Wrist.Based on analysis an input-output (I/O) equation of spherical four-bar linkages for forward-displacement of spherical parallel robots, the inverse kinematics derivation is reported here to find the active-joint variables for each possible position and orientation (pose) of the mobile plate, as well as the singularity exist and defines what may be generalized as the workspace boundary.Meanwhile the kinematics simulation by using simulink S-Function combined with Q8 controller was carried out.The results showed that the Kinematics analysis and Control Design of Agile Wrist were correct.The modified spherical parallel manipulator can meet with the demands of Collisions experiment in the robotic mechanical testbed.
robotic mechanical system Agile Wrist kinematics simulation Q8 controller
YANG Jian JORGE Angeles
College of Nuclear Technology & Automation Engineering Chengdu University of Technology,Chengdu of S Department of Mechanical Engineering & Centre for Intelligent Machines,McGill University, Montreal,
国内会议
成都
英文
169-174
2016-10-14（万方平台首次上网日期，不代表论文的发表时间）