Force, compliance and position control for a space frame manipulator

Paper

Cubero, Samuel N. and Billingsley, John. 1997. "Force, compliance and position control for a space frame manipulator." Werner, Bob (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 Los Alamitos, CA. United States. https://doi.org/10.1109/MMVIP.1997.625306
Paper/Presentation Title

Force, compliance and position control for a space frame manipulator

Presentation TypePaper
AuthorsCubero, Samuel N. (Author) and Billingsley, John (Author)
EditorsWerner, Bob
Journal or Proceedings TitleProceedings of the 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997)
Number of Pages6
Year1997
Place of PublicationLos Alamitos, CA. United States
ISBN0818680253
Digital Object Identifier (DOI)https://doi.org/10.1109/MMVIP.1997.625306
Web Address (URL) of Paperhttp://ieeexplore.ieee.org/document/625306/
Conference/Event4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997)
Event Details
4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997)
Parent
International Conference on Machine Vision and Mechatronics in Practice
Delivery
In person
Event Date
23 to end of 25 Sep 1997
Event Location
Toowoomba, Australia
Abstract

This paper describes practical methods for achieving variable force, compliance and position control for a direct-drive, pneumatically powered 'variable geometry truss manipulator' (VGTM) built at University of Southern Queensland. The advantages of tetrahedral-tetrahedral VGTM structures are discussed including the kinematics for a fully operational prototype. The natural compliant behaviour of compressed gas is exploited using proportional valve control software. Experimental results are included for force and position control of a conventional pneumatic actuator.

Keywordsvalves; engineering software; actuator; compliance control; compressed gas; force control
ANZSRC Field of Research 2020400799. Control engineering, mechatronics and robotics not elsewhere classified
400101. Aerospace materials
401706. Numerical modelling and mechanical characterisation
Public Notes

© 1997 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Byline AffiliationsNational Centre for Engineering in Agriculture
Institution of OriginUniversity of Southern Queensland
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Some machine vision applications in agriculture
Billingsley, John. 2006. "Some machine vision applications in agriculture." Gonzalez, Dante Jorge Dorantes (ed.) 10th International Conference on Mechatronics Technology (ICMT 2006). Mexico City 20 - 24 Nov 2006 Mexico.
Viewpoint
Billingsley, John. 2006. "Viewpoint." Sensor Review. 26 (4), pp. 261-261.
Machine vision applications in agriculture
Billingsley, John. 2005. "Machine vision applications in agriculture." Shamsudin, H. M. Amin (ed.) 9th International Conference on Mechatronics Technology. Kuala Lumpur, Malaysia 05 - 07 Dec 2005 Kuala Lumpur, Malaysia.
Essentials of mechatronics
Billingsley, John. 2006. Essentials of mechatronics. United States. John Wiley & Sons.
The role of native rodents in seed dispersal and seed predation of the Bunya Pine (Araucaria bidwillii)
Smith, I. R., Withers, Kerry and Billingsley, John. 2005. "The role of native rodents in seed dispersal and seed predation of the Bunya Pine (Araucaria bidwillii)." Cree, Alison (ed.) 22nd Annual Conference of the Australian and New Zealand Society for Comparative Physiology and Biochemistry (ANZSCPB 2005). Dunedin, New Zealand 09 - 11 Dec 2005 New Zealand.
Application of machine vision technology to identification of oestrous in the Julia Creek dunnart (Sminthopsis douglasi)
Bjursell, A., Dunn, M., Withers, K., Senior, G., Lundie-Jenkins, G. and Billingsley, J.. 2005. "Application of machine vision technology to identification of oestrous in the Julia Creek dunnart (Sminthopsis douglasi)." Cree, Alison (ed.) 22nd Annual Conference of the Australian and New Zealand Society for Comparative Physiology and Biochemistry (ANZSCPB 2005). Dunedin, New Zealand 09 - 11 Dec 2005 New Zealand.
The steering of trailed implements for tractor path tracking
Ong, Clement and Billingsley, John. 2003. "The steering of trailed implements for tractor path tracking." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Taunton, England.
Machine vision classification of animals
Dunn, Mark, Billingsley, John and Finch, Neal. 2003. "Machine vision classification of animals." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Research Studies Press.
Teaching mechatronics principles using laboratory classes
Billingsley, John and Dunlop, Reg. 2003. "Teaching mechatronics principles using laboratory classes." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Taunton, England.
Unusual vision - machine vision applications at the NCEA
Billingsley, John and Dunn, Mark. 2005. "Unusual vision - machine vision applications at the NCEA." Sensor Review. 25 (3), pp. 202-208. https://doi.org/10.1108/02602280510606480
Torpor in the carnivorous marsupial Sminthopsis macroura: effects of food quality and food quantity
Withers, Kerry W., White, Debra H. and Billingsley, John. 2000. "Torpor in the carnivorous marsupial Sminthopsis macroura: effects of food quality and food quantity." Heldmaier, Gerhard, Klingenspor, Martin and Klaus, Susanne (ed.) 11th International Hibernation Symposium. Jungholz, Austria 13 - 18 Aug 2000 Berlin, Germany.