Mid-ranging Control of a Macro/mini Manipulator

被引：0

作者：

Ma, Zheng ^{[1
,2
]}

Hong, Geok-Soon ^{[3
]}

Ang, Marcelo H., Jr. ^{[3
]}

Poo, Aun-Neow ^{[3
]}

机构：

[1] Natl Univ Singapore, Adv Robot Ctr, Singapore 117580, Singapore

[2] Natl Univ Singapore, SIMTech NUS Joint Lab Ind Robot, Singapore 117580, Singapore

[3] Natl Univ Singapore, Dept Mech Engn, Singapore 117576, Singapore

来源：

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2015年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Mid-ranging control is an established control approach developed for systems with more than one manipulated inputs controlling a single target output. In this paper, the application of a mid-ranging control approach, Valve Position Control (VPC), in the control of a macro/mini manipulator is presented. The results from simulation studies show that the macro/mini combination, under VPC, was able to achieve accurate and fast position tracking while having the advantage of the larger workspace of the macro. An Enhanced VPC approach is proposed which can effectively decouple the output of the macro/mini manipulator from changes to the setpoint input to the mini.

引用

页码：755 / 760

页数：6

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