Compliance Control of a Parallel Wire Crane

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Compliance Control of a Parallel Wire Crane

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摘要

A compliance control system is designed for wire suspended systems. The kinematic and static characteristics of the systems are analyzed and a rigid manipulator model with some virtual springs at the tip is derived. After showing that both position controllers and force controllers are needed for compliance control of a suspended object, a way to design each controller is described. A compliance controller for a prototype crane with three wires is designed and the crane is used for automatic assembly and cooperation between the crane and a position-controlled industrial robot. The experimental results verify the effectiveness of the compliance controller.

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《精密工学会誌》 |2000年第6期|757-762|共6页
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正文语种日语
中图分类机械制造工艺;
关键词
multiple wires; crane; compliance control; assembly; cooperative control;

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机译：Control of a two wired hammerhead tower crane
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机译：使用Steve Wire技术的Bideway Back Control检查
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6. The Linda Crane Lecture Professionalism Core Values in Physical Therapy: Lessons Learned From Linda Crane [O] . Lawrence P. Cahalin 2012

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7. A multi-centre, randomised controlled trial of cognitive therapy to prevent harmful compliance with command hallucinations [O] . Wykes Til, Lewis Shon, Dunn Graham, 2011

机译：a multi-centre, randomised controlled trial of cognitive therapy to prevent harmful compliance with command hallucinations
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Compliance Control of a Parallel Wire Crane

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