Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics Shivesh

Kumar, Shivesh; Martensen, Julius; Mueller, Andreas; Kirchner, Frank

doi:10.1109/iros40897.2019.8967786

Cited by 7 publications

(2 citation statements)

References 14 publications

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“…The planned motions are computed based on a tree type robot model. For dynamic real-time control, this simplified model turns out to be sufficient, although the accuracy is reduced [22]. Nevertheless, the problem remains on transforming the results from the independent joint space, to the actuation space.…”

Section: B Simulation and Control Architecturementioning

confidence: 99%

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Julian¹,

Kumar²,

Peters³

et al. 2021

Preprint

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Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of massinertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.

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Section: B Simulation and Control Architecturementioning

confidence: 99%

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Julian¹,

Kumar²,

Peters³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Due to the complex kinematics, the velocity and acceleration of the hybrid robot are generally difficult to be obtained such that it is difficult to establish a complete dynamic model of the hybrid robot. Numerical techniques can be used to obtain the dynamic model of a hybrid robot, but numerical methods generally have poor computational performance [23,24]. In general, only the dynamics of the parallel mechanism in the hybrid robot are considered [25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining

Wang

Zhou

2023

Machines

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Dynamic performance is an important performance of robots used for machine processing. This paper studies the dynamic modeling and evaluation method of a 5-DOF (Degree of Freedom) hybrid robot used in aerospace composite material processing. With the consideration of the dynamics of the serial part, the complete dynamic model of the hybrid robot is established based on the virtual work principle. In addition to the widely considered acceleration term, a dynamic performance evaluation index that comprehensively considers the acceleration term, velocity term and gravity term in the dynamic model is proposed. Using the dynamic performance index, the effect of the placement direction of the robot and the arrangement of the double symmetric limbs on robot dynamics are investigated. The results indicate that the vertical placement is beneficial to the dynamics of the hybrid robot, and the arrangement of double symmetric limbs has different effects on different limbs.

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A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot

Ayit

Dede

2020

Mechanisms and Machine Science

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Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics Shivesh

Cited by 7 publications

References 14 publications

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining

A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot

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