A Robotic System with a Hybrid Motion Cueing Controller for Inertia Tensor Approximation in Micro-Manipulations

[摘要] This paper summarizes the development of a robotic system for the approximation of inertia tensor of micro-sized rigid bodies. We described the design and computer-based simulation of a 6-DOF motion platform in our earlier work [32] that benefits from an anthropological serial manipulator design. In [32] we emphasized that, in contrast to a standard configuration based on linear actuators, a mechanism with actuator design inspired from an anthropological kinematic structure offers relatively a larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. After having described the basic design and kinematic analysis of our motion platform in [32], we now aim to propose an advanced motion cueing algorithm for facilitating the identification of inertial parameters at micron-level. The motion cueing algorithm for achieving high fidelity dynamic simulation is described in this paper using a hybrid force-position-based controller. The inertia tensor identification is do...

[学科分类] 自动化工程

[关键词] Parallel robot;Micro-electromechanical Devices;Real-Time Simulation;SimMechanics;3D CAD Modeling;Dynamics Modeling;Closed-Loop Control