Design and control of a 3 DOF in-parallel actuated manipulator

George H. Pfreundschuh, Vijay Kumar, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Citations (Scopus)

Abstract

The mechanics, design, control, and experimental results for a 3-DOF (degree-of-freedom) in-parallel, pneumatically actuated manipulator are presented. The manipulator consists of two platforms connected by three serial chains. It is naturally compliant in translation along the approach direction as well as in rotations about axes perpendicular to the approach direction, while it is stiff in other directions. The kinematic design allows the three relative DOF between the two plates of the manipulator to accommodate uncertainties and sustain impacts while contacting and interacting with unknown environments. Experimental results show that, with a sampling rate of 100 Hz, the position control bandwidth of a single actuator servo system is 11 Hz, while the force control bandwidth is 10 Hz. These figures also reflect the bandwidth and the performance of the complete system.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1659-1664
Number of pages6
Volume2
StatePublished - 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period4/9/914/11/91

Fingerprint

Manipulators
Bandwidth
Servomechanisms
Force control
Position control
Mechanics
Kinematics
Actuators
Sampling
Uncertainty

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Pfreundschuh, G. H., Kumar, V., & Sugar, T. (1991). Design and control of a 3 DOF in-parallel actuated manipulator. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1659-1664). Publ by IEEE.

Design and control of a 3 DOF in-parallel actuated manipulator. / Pfreundschuh, George H.; Kumar, Vijay; Sugar, Thomas.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 Publ by IEEE, 1991. p. 1659-1664.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pfreundschuh, GH, Kumar, V & Sugar, T 1991, Design and control of a 3 DOF in-parallel actuated manipulator. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, Publ by IEEE, pp. 1659-1664, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 4/9/91.
Pfreundschuh GH, Kumar V, Sugar T. Design and control of a 3 DOF in-parallel actuated manipulator. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. Publ by IEEE. 1991. p. 1659-1664
Pfreundschuh, George H. ; Kumar, Vijay ; Sugar, Thomas. / Design and control of a 3 DOF in-parallel actuated manipulator. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 Publ by IEEE, 1991. pp. 1659-1664
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