US 11,745,342 B2
Manipulator for finishing work, and control method therefor
Sun Kyu Lee, Gwangju (KR); Jong Jae Kim, Gwangju (KR); Sang Ki Park, Gwangju (KR); Dae Gweon Koh, Gwangju (KR); and Jae Yun Sim, Gwangju (KR)
Assigned to Gwangju Institute of Science and Technology, Gwangju (KR)
Appl. No. 17/616,593
Filed by GWANGJU INSTITUTE OF SCIENCE AND TECHNOLOGY, Gwangju (KR)
PCT Filed Jun. 3, 2020, PCT No. PCT/KR2020/007224
§ 371(c)(1), (2) Date Dec. 3, 2021,
PCT Pub. No. WO2020/246808, PCT Pub. Date Dec. 10, 2020.
Claims priority of provisional application 62/924,807, filed on Oct. 23, 2019.
Claims priority of application No. 10-2019-0065060 (KR), filed on Jun. 3, 2019.
Prior Publication US 2022/0226992 A1, Jul. 21, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/02 (2006.01); B25J 9/04 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/1638 (2013.01) [B25J 9/026 (2013.01); B25J 9/046 (2013.01); B25J 9/1065 (2013.01); B25J 9/1633 (2013.01); G05B 2219/41426 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A manipulator for a finishing work, comprising:
a base;
an arm comprising:
a plurality of links,
a plurality of joints connecting the plurality of links,
a plurality of actuators generating rotation of at least some of the plurality of joints,
a parallelogram link set having one side fixed to the base and having a parallelogram structure;
a first link and a second link,
a first actuator and a second actuator,
a first joint and a second joint, wherein one side of the parallelogram link set is a double link, wherein the double link comprises the first link and the second link parallel to each other, wherein the first link is connected to the base through the first joint that is rotated by the first actuator, and wherein the second link is connected to the base through the second joint that is rotated by the second actuator;
a third joint, a third actuator, and a swing arm link, wherein the swing arm link is connected through the third joint at an end of a side not connected to the base of the parallelogram link set, and wherein the third joint is rotated along a rotation axis in a direction perpendicular to the working plane by the third actuator;
a fourth joint, a fifth joint, a fourth actuator, a fifth actuator, a hand link, and an end-effector, wherein the hand link is connected through the fourth joint at an end of the swing arm link, wherein the fourth joint is rotated along a rotation axis in a direction of the hand link by the fourth actuator, wherein the end-effector is connected through the fifth joint at an end of the hand link, and wherein the fifth joint is rotated along a rotation axis parallel to the working plane and perpendicular to the direction of the hand link by the fifth actuator; and
a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque; and
wherein the first joint and the second joint have rotation axes parallel to a working plane, respectively, are disposed on a same straight line, and are dynamically decoupled;
wherein the second joint provides a leverage effect on the arm by the parallelogram structure, and wherein the processor performs feed forward torque control through the second actuator; and
wherein the feed forward torque control does not involve position feedback for the arm and force feedback for the arm.