A method of manipulator dragging teaching based on VMC

Chenglin Lei; Zebang Zhong; Jiazhen He; Jianwen Zhang

doi:10.1117/12.2681026

23 May 2023 A method of manipulator dragging teaching based on VMC

Chenglin Lei, Zebang Zhong, Jiazhen He, Jianwen Zhang

Proceedings Volume 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023); 1264509 (2023) https://doi.org/10.1117/12.2681026
Event: International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 2023, Hangzhou, China

Abstract

A control method based on decomposed Virtual Model Control (VMC) is proposed to solve the drag teaching problem of the manipulator. According to the kinetic characteristics of the manipulator, springs and dampers are selected as virtual components, and their mathematical models are established. The motion of the end effector of the manipulator is decomposed into motion in six directions, and the corresponding virtual components are selected for movement in each direction and controlled separately. The VMC system of the manipulator is simulated, the effect of the stiffness of springs and the coefficients of dampers on the stability and phase margin of the control system is analyzed by drawing both Nyquist and Bode diagrams. An experimental platform for manipulator dragging motion control was built to conduct dragging experiments, and the dragging performance of the manipulator under VMC method and traditional torque mode was compared.

Citation Download Citation

Chenglin Lei, Zebang Zhong, Jiazhen He, and Jianwen Zhang "A method of manipulator dragging teaching based on VMC", Proc. SPIE 12645, International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023), 1264509 (23 May 2023); https://doi.org/10.1117/12.2681026

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