Development of the Acroboter Service Robot Platform

Bencsik, László; Zelei, Ambrus; Stépàn, Gábor

doi:10.1007/978-3-319-33714-2_24

Cited by 2 publications

(5 citation statements)

References 8 publications

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“…The underactuated crane-like domestic robot ACROBOTER [9,10,12,20] was equipped with the Tracker unit of the HTC Vive [23][24][25] virtual reality system. The desired trajectories were defined in four different trajectory speeds in order to gain information about the dynamic effects on the accuracy and the precision.…”

Section: Methodsmentioning

confidence: 99%

“…The complementary GPS-based absolute positioning systems and IMUs is typical [2] besides the integration of ultrasonic systems and IMUs, e.g. in [9,10] where the Zebris Ultrasonic localization system operates together with an IMU unit.…”

Section: Pose Estimation Of Mobile and Pendulum-like Robotsmentioning

confidence: 99%

“…The present study is carried out by using the pendulum-like manipulator called ACROBOTER, [9,10,12,20] which is structurally similar to a crane and its working unit swings freely in the cubic space. Consequently, its pose estimation and position control are crucial questions.…”

Section: Control Of Pendulum-like Manipulatorsmentioning

confidence: 99%

“…Our second goal is to demonstrate via experiments that the HTC Vive can be applied in the feedback loop of a motion controller of an indoor pendulum-like robot. For these purposes, an underactuated indoor pendulum-like robot called ACROBOTER [9,10,12,20] is equipped with the HTC Vive sensor system. [23][24][25] The concept of the pose estimation of the ACROBOTER robot based on the HTC Vive pose sensor has been proposed recently in.…”

Section: Goals and Structure Of The Papermentioning

confidence: 99%

“…The old prototype is shown in Figure 1(a). The ACROBOTER [9,10,31] robot originally used the Zebris [41,42] ultra sonic system together with a 6-axis IMU. However, it was an exceptive solution, since the Zebris ultrasonic system is basically developed for biomechanical and medical purposes.…”

Section: Goals and Structure Of The Papermentioning

confidence: 99%

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Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Zana

Zelei²

2021

International Journal of Optomechatronics

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Spatial pose estimation devices for mobile and cable-suspended robots have been rapidly developed. The HTC Vive sensor, which operates with swept laser beams, has aroused many researchers' interest. We present experiments with a double pendulum robot equipped with the HTC Vive Tracker. A linear feedback controller ensured the tracking of pre-defined end-effector trajectories of various speeds. The pose feedback of the controller was provided by the HTC Vive. As a reference, the realized trajectory was measured by the OptiTrack motion capture system. We report that the motion control of a spatial double pendulum robot can be achieved by using a linear feedback controller together with cable winch and fan actuators providing six independent inputs. The accuracy of the HTC Vive was proved to be sufficient for the feedback position control of indoor mobile robots. We report that the error strongly correlates with the linear/angular velocity, the acceleration and the jerk.

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Section: Methodsmentioning

confidence: 99%

Section: Pose Estimation Of Mobile and Pendulum-like Robotsmentioning

confidence: 99%

Section: Control Of Pendulum-like Manipulatorsmentioning

confidence: 99%

Section: Goals and Structure Of The Papermentioning

confidence: 99%

Section: Goals and Structure Of The Papermentioning

confidence: 99%

See 3 more Smart Citations

Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Zana

Zelei²

2021

International Journal of Optomechatronics

Self Cite

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Discrete time stability of augmented Lagrangian formalism based underactuated inverse dynamics control method

Zana,

Zelei

2024

Journal of Vibration and Control

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Stability problems of robotic systems arise sometimes suddenly, seemingly for no reason. The digital time sampling is often the main cause of these instabilities. Discrete models, which are capable of the prediction of stability, are available for low-degree-of-freedom template models of linear position and force control. However, for the inverse dynamics control of underactuated systems, the literature has a lack of generally applicable results related to the effect of time discretization. Several control approaches are available in the literature out of which a widely used one, the augmented Lagrangian formalism and its stability properties are analysed in this work. Theoretical stability properties are obtained for a generally usable, linear, underactuated, two-degree-of-freedom constrained template model. The actuator dynamics, the finite difference approximation of the feedback velocity and the filtering of the feedback data are considered in the model. These phenomena strongly affects the stability properties. The theoretically obtained stability maps are experimentally validated on an underactuated crane-like indoor robot. The position and orientation accuracy of the robot were assessed: the absolute position error was below 30 mm and the orientation error was below 3°.

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Development of the Acroboter Service Robot Platform

Cited by 2 publications

References 8 publications

Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Discrete time stability of augmented Lagrangian formalism based underactuated inverse dynamics control method

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