Papers by Keyword: 6-DOF Manipulator

Abstract: Against the shortcomings of the live washing artificially, this paper puts forward a system about live washing robot, this system contains hydraulic system, video surveillance system, automatic regulatory system, communication system and motion control system. These subsystems can cooperate to complete live washing tasks. The operator commands manipulator and car from a cabin on the truck via a portable control box. In order to protect the operator, this system takes use of the wireless communication. This robotic system can finish the washing task perfectly instead of human. As for the inverse kinematic about the manipulator, this paper puts forward a new algorithm which is combined geometric method with algebraic method and confirms it’s correctness by simulation.

Abstract: This paper summarized the basic structure of industry articulated 6-dof manipulators, general DH parameters were obtained by the DH modeling method and the general analytical solution methods was derived. For different structural forms and different coordinate systems establishing method, this solution can give consistent results, and the industrial manipulator inverse kinematic analysis method was simplified.

Abstract: The thesis research aimed to develop a novel approach to model and control a 6-DOF manipulator for specific tasks. The modeling and control method take into account velocity of the dynamical model. The camera and acquisition system were developed in order to significantly increase the bandwidth of the manipulator. Multi-Input and Multi-Output (MIMO) is used to optimally control the visual loop with respect to the proposed dynamical model. Experimental results on a 6-DOF manipulator for rescue robot are presented that validate the proposed model. Furthermore, a precise synchronization method is used to reduce the delays of image transfer and processing. The experiment results show a biggish improvement of the loop performance with respect to more classical control methods for 6-DOF manipulator.

Abstract: The working space of manipulator is an important dynamic index. Based on Monte-Carlo method, working space of the 6-DOF (degrees of freedom) underwater manipulator is analyzed in this paper. The virtual prototype of the manipulator is established. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator’s working space is bigger and has obtained better effect, which can meet the 6-DOF underwater manipulator operational requirements. The results provide an important reference for the 6-DOF underwater manipulator body design and trajectory planning.