首页|Bond graph modeling of a spatial multi-section soft bionic robot
Bond graph modeling of a spatial multi-section soft bionic robot
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NSTL
Elsevier
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.
NSTL
Elsevier
