Motion Control of an Under-Actuated Service Robot Using Natural Coordinates

Kovâcs, László; Zelei, Ambrus; Bencsik, László; Turi, János; Stépàn, Gábor

doi:10.1007/978-3-7091-0277-0_39

Cited by 8 publications

(8 citation statements)

References 4 publications

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“…Thereupon, by employing Eqs. (7)(8)(9)(10)(11)(12)(13)(14) dynamic model of one of the limbs of the Agile Eye can be extracted, which leads to two equations:…”

Section: Dynamic Modeling Of Each Legmentioning

confidence: 99%

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Dynamic modeling and computed torque control of a 3-DOF spherical parallel manipulator

Yahyapour

Yazdani

Masouleh

et al. 2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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This paper investigates the dynamic modeling of a 3-degree-of-freedom spherical parallel manipulator, called the Agile Eye, first build at Laval University. The approach used in this paper is based on detaching the manipulator into several subsystems and applying a consecutive synergy between kinematic analysis, Lagrangian and Newtonian approaches. In this regard, the manipulator under study is detached to four subsystems. After writing down the kinematic equations of all the three subsystems, the Lagrangian and Newtonian approaches are blended and finally the dynamic model of the 3-DOF Agile Eye is obtained. Finally, the problem leads to a system of 12 equations and 18 unknowns, which has been simplified to have a fully constraint system of equations. The results are put into contrast by the one obtained with a analyser software, MDAdams. Then a co-simulation between MATLAB and MD-Adams has been accomplished in order to control the Agile Eye with computed torque control method. The latter method has led to the end-effector (EE) to follow the desired trajectory perfectly.

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“…Thereupon, by employing Eqs. (7)(8)(9)(10)(11)(12)(13)(14) dynamic model of one of the limbs of the Agile Eye can be extracted, which leads to two equations:…”

Section: Dynamic Modeling Of Each Legmentioning

confidence: 99%

“…This method needs the inverse dynamic model to calculate the actuation torques resulted from a desired motion [6]- [9]. Kovacs et al [10] have presented the motion control of a pendulum like underactuated service robot called ACROBOTER. As the first step, they obtained the inverse dynamics model of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and computed torque control of a 3-DOF spherical parallel manipulator

Yahyapour

Yazdani

Masouleh

et al. 2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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show abstract

“…The inverse kinematical and dynamical calculations may lead to a unique solution if the number of control inputs and the dimension of the task is equal [7,16,17]. In order to reach this, we assume that the task is defined by l number of algebraic equations.…”

Section: Problem Formulationmentioning

confidence: 99%

“…In this section, the method based on the backward Euler (BE) direct discretization of the control law [16] and the application of the method of Lagrange multipliers (MLM) [8] are overviewed. For the application of most of the control algorithms, the constraining forces, in mathematical terms the Lagrange multipliers, have to be eliminated from the equation of motion (14,15).…”

Section: Control Approachesmentioning

confidence: 99%

Case studies for computed torque control of constrained underactuated systems

Zelei¹,

Stépàn²

2012

Per. Pol. Mech. Eng.

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Computed torque control (CTC) method is an efficient technique for trajectory tracking control of robot manipulators. As a model-based control, CTC needs the inverse dynamics calculation of the dynamical system. A special group of these systems is formed by the underactuated ones, in which the number of independent control inputs is lower than the degrees of freedom of the system. In these systems, the inverse dynamics calculation is a challenging task, because the inverse calculation leads to the solution of a differential-algebraic equation (DAE). Complex robotic structures like the ones with closed kinematic loops are generally modeled by redundant descriptor coordinates instead of the Lagrangian approach when a minimum set of generalized coordinates are chosen. The use of non-minimum set of descriptor coordinates requires the introduction of a set of geometric constraints, which are expressed in the form of algebraic equations. Thus, the mathematical model of the robotic structure itself is also a DAE. A few different CTC method based algorithms are studied. The control algorithms are compared in the case of the simplest possible linear dynamical system with special attention to the choice of the descriptor coordinate set.

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“…Robotized gantry cranes, for moving containers, or biped robots for manipulation tasks, such as lifting and carrying heavy weights, are being adopted mainly for high volume handling. Within these applications, biped robots are required to satisfy not only the power requirements [4], but also advanced balancing and locomotion capabilities [5,6], which are critical for carrying loads [7] and that are required to physically interact with the human-made environment [8,9,10]. There are many elements that affect the efficiency of containers flow.…”

Section: Introductionmentioning

confidence: 99%

A Model for Economic and Environmental Evaluation of Inter-/Intra-Terminal Containers Flows

Facchini¹,

Digiesi²,

Ranieri³

2018

dtetr

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European maritime ports play a fundamental role in maritime transport of containers. One of the more common problem of these ports is related to the berth congestion; in these cases solutions recommended by industry officials is to expand terminal capacity; when this solution is not available the 'Dry port' represents an effective alternative. The dry port is an external area directly connected with one or several seaports by rail and/or road transport. The adoption of a dry port leads to benefits on terminal congestion; depending on the distance of the dry port from the port as well as on the amount of containers stocked in the dry port area, the transport of the containers from port to dry port requires resources. In this paper, a model that allows optimizing the inter-/ intra-terminal flows of the containers is proposed. The model aims at the minimization of costs and environmental impact due to the handling of containers. A full case study concerning a multi-terminal maritime system located in Port of Bari is developed.

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Motion Control of an Under-Actuated Service Robot Using Natural Coordinates

Cited by 8 publications

References 4 publications

Dynamic modeling and computed torque control of a 3-DOF spherical parallel manipulator

Dynamic modeling and computed torque control of a 3-DOF spherical parallel manipulator

Case studies for computed torque control of constrained underactuated systems

A Model for Economic and Environmental Evaluation of Inter-/Intra-Terminal Containers Flows

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