Research on Attitude Control of Rigid-flexible Coupling Manipulator Based on Multi-sensor
Due to the long transmission chain of the traditional rope-driven manipulator itself,the influence of nonlinear factors such as friction and clearance is large.The end precision of the traditional rope-driven manipulator is low and the control is more complicated.In order to ensure inherent compliance and the loading capacity together with light weight,low inertia,high stiffness and high preci-sion,a 6-joint continuous manipulator driven by rope with traditional joints and minimizing the motor is designed.The pressure sensor is used to establish the mathematical model of the tension of the rope driving line and the joint angle,and the feedback control of the manipulator is realized.
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