Abstract
Bionic manipulators are biologically inspired robots with high-level of dexterity. Modeling and control of a bionic manipulator is a challenging task due to number of redundancies present in the system. The applications of bionic manipulators are found in material transport, pick and place operations. Their application is also explored in areas of skeletal trauma treatment, endoscopy and minimally invasive surgery and inspection. This paper presents a detailed bond graph model of a three-dimensional multi-section bionic manipulator which is modeled as a hybrid manipulator, i.e., a serial manipulator whose links/segments are formed by a parallel manipulator. The base of the mobile manipulator as well as the rotational motion of end-effector have been modeled. The developed bond graph model is validated with MappleSim software. Further a model-based control scheme is developed for the bionic manipulator. The control scheme uses the inverse dynamics of manipulator segments to calculate the command torque components required for trajectory tracking. Proportional-Integral-Derivative (PID) controllers are then used along with the model-based controller for accurate trajectory tracking. The control performance is studied through simulation and animation results of the bionic manipulator. To validate the modeling, an example of bionic manipulator Robotino XT has been considered.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
