Modular manipulator has become a trend in the research of robots
abstract:A modular joint is a key component of a robotic manipulator. It integrates a standard electrical and...
A modular joint is a key component of a robotic manipulator. It integrates a standard electrical and mechanical interface. This enables the joint to perform in any direction. In addition, it provides the robot with flexibility and agility on uneven terrain.Modular manipulator has become a trend in the research of robots. The main components of the joint are the drive circuit, motor, control board, feedback elements, sensors, and link. They are configured to meet the design targets.To achieve online auto-tuning of PID parameters, Fuzzy adaptive servo control scheme is used. In this method, the input information of each modular joint is used to calculate error compensation data. Moreover, the controller is set up according to the kinematic and mechanical analysis of the manipulator.A modular joint is characterized by high stiffness and torsional capacity. These factors play a key role in the performance of the robot. Besides, the joints are also able to fit through small openings.An example of a modular joint is the joint of a robotic arm. This manipulator is composed of a joint, an end-effector module, a telescoping link, and a flexible connection mechanism.In order to improve the precision of the robot, the sensitivity of each joint is considered. There are various sensor design processes that can increase sensitivity. Moreover, some methods are used to reduce the stiffness of the manipulator unconsciously.Based on inverse kinematics, the rotation angle of each joint is calculated. Then, the position of the end-effector is determined. Lastly, the orientation error can be corrected.