Resolved Motion Control of a Large-scale Redundant Manipulator for Concrete Spraying
This paper addresses resolved motion control problem of a large-scale redundant industry manipulator for concrete spraying.The manipulator is electro-hydraulic actuated with 9 degrees of freedom (d.o.f.s) in total,which is mounted on an off-road vehicle and working together with a high pressure concrete pumping unit.Inverse kinematic equations of the manipulator are formulated and a control algorithm is proposed as base on a general pseudo-inverse computation of velocity Jacobian matrix and trajectory optimization considering of joints limitation avoidance.A co-simulation model is elaborated for motion control performances characterization and control algorithm evaluation purposes.A real-time motion control system is developed and it is assembled on a prototype.From simulation and experimental test results,it shows that each actuated joint has a good tracking capability in both position and velocity.Additionally,tip-point of the manipulator is capable of tracking any prescribed trajectory in Cartesian space,and the whole manipulator moves smoothly without large vibration.
Redundant Manipulator Inverse Kinematic Control
Conghui Liang Yuming Li Ming Hu Jiawei Tu Zengkun Pu I-Ming Chen Marco Ceccarelli
State Key Laboratory of Construction Machinery,Zoomlion Co.,Ltd.,Changsha 410013,China School of Mechanical and Aerospace Engineering,Nanyang Technological University,Nanyang Ave 639798,S Laboratory of Robotics and Mechatronics,University of Cassino and South Latium,Cassino(Fr)03043,Ital
国际会议
天津
英文
1-7
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）