Design and Control of a 4-bar-transmission 2-DOF Robot

摘要

The paper presents design and position control of 2-degree-of-freedom robot. To satisfy special requirements of massless distribution and fast response, transmission mechanism of the robot is designed using a 4-bar structure. To effectively support the high-precision control process, an intensive inverse kinematic algorithm is studied. A neural-network-based proportional-integral-derivative (PID) controller is then developed using a nonlinear learning law. Effectiveness of the robot is confirmed by simulation and real-time experiments.