Micro-macro bilateral in task space for delta robot by using forward and inverse kinematic

摘要

In this paper, the possibility of bilateral delta robot with micro-macro control to enhance human ability and transfer experience of operator is considered. Human's hand movement usually occur in three dimension space with high speed and small impendence from hand's mass which is not capable with conventional serial robot that have slow speed and heavy moving part. As a result, parallel delta robot with properties of high speed and light moving part is chosen to suit human's hand behavioral. Micro-macro bilateral or scaling bilateral robot is a robot that scale the position or force from master robot to smaller slave robot. Convectional micro-macro in joint space or motor space bilateral system is not enough to control the task space of the delta robot due to non-linearity of delta robot kinematic. As a result, a micro-macro task space for delta robot in xyz plane by transform joint space into task space using inverse and forward kinematic of delta robot is proposed. Delta robot have rigid body properties which is necessary for detail work and can be considered appropriate micro-macro bilateral manipulator. However, direct kinematics of delta robot have around 40 solutions due to the complexity of pair of spherical joint that may present difficulty in design and manufacturing. Disturbance force is estimated by disturbance observer and scaled by conventional micro-macro method. The experiment and simulation is carry out to verify the proposed method.