Motion control of underactuated three-link gymnast robot based on combination of energy and posture

Lai, Xuzhi; Zhang, A.; She, Jinhua

doi:10.1049/iet-cta.2010.0210

Cited by 33 publications

(17 citation statements)

References 21 publications

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“…A great deal of research is now being carried out on the control of the simplest types of underactuated mechanical systems, namely, the 2-DOF type (e.g., inertia wheel pendulums, cart-pendulums, acrobots, translational oscillators with rotating actuators, etc.) [3]. A 3-DOF underactuated mechanism, such as a triplelink pendulum, is far more challenging due to its much more complex dynamics.…”

Section: Introductionmentioning

confidence: 99%

The application of IWO in LQR controller design for the Robogymnast

Ismail

Packianather

Grosvenor

et al. 2015

2015 SAI Intelligent Systems Conference (IntelliSys)

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In this study, invasive weed optimization (IWO) was used to investigate the optimum Q values of the linear quadratic regulator (LQR) for the inverted balance control of the Robogymnast. The Robogymnast is a triple-link pendulum developed to study control problems associated with complex underactuated mechanisms, particularly inverted pendulums. Built to exploit the natural dynamics of the mechanism, it mimics the human acrobat swinging from a high bar. Two motors, located on joint 2 (hips) and joint 3 (knees), control the movement of the mechanism. Joint 1 (hands/arms) is firmly attached to a freely rotating high bar mounted on ball bearings. The LQR is a popular and commonly used controller that employs feedback gains as part of its control mechanism. The main contribution of this paper is to demonstrate how the IWO can be used successfully to obtain the optimal Q values required by the LQR to maintain the Robogymnast in an upright configuration.

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Section: Introductionmentioning

confidence: 99%

The application of IWO in LQR controller design for the Robogymnast

Ismail

Packianather

Grosvenor

et al. 2015

2015 SAI Intelligent Systems Conference (IntelliSys)

View full text Add to dashboard Cite

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“…Presently, the control problem for the underactuated mechatronic systems, where there are less applicable control inputs than to-be-dominated degrees of freedoms (DOFs), has been receiving plenty of interests [1][2][3][4][5][6]. Being a class of underactuated, structure-complicated engineering transport tools, cranes have been playing increasingly instrumental roles as powerful transport tools, which according to the difference of their mechanical structures, can be classified into three categories as bridge cranes, rotary cranes and boom cranes [7].…”

Section: Introductionmentioning

confidence: 99%

An enhanced coupling nonlinear control method for bridge cranes

Sun

Fang

2014

IET Control Theory & Applications

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The present study suggests an enhanced coupling non-linear control approach for both cart positioning and load swing elimination control of underactuated bridge cranes. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different/uncertain cable lengths that are the major factor influencing load swing. Owing to the underactuated nature, the load swing can merely be damped out by the cart motion. Inspired by this inherent mechanism and also motivated by the desire to achieve an improved control performance, we enhance the coupling behaviour between the cart movement and the load swing by introducing a new composite signal, and on this basis, propose a non-linear control law. Lyapunov-based mathematical analysis is implemented to support the theoretical derivations. To verify its control performance, both numerical simulation and hardware experiment results are included to illustrate that the proposed method can achieve superior control results and admit strong robustness with respect to different/uncertain cable lengths and external disturbances.

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“…Most under actuated systems are not full-state feedback linearisable (FL) around any equilibrium point, and some are not even small-time local controllable (STLC). This makes the control of such system a challenging problem [2]. Control of such mechanism forms one of the recent major research topics in control engineering and robotics [3].…”

Section: Introductionmentioning

confidence: 99%

Invasive weed optimization of swing-up control parameters for robot gymnast

Ismail

Eldhukhri

Packianather

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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In this paper Invasive Weed Optimization (IWO) was used to investigate the optimum values of the control parameters for the swing up of the Robogymnast. The Robogymnast is classified as an under-actuated triple link pendulum. It was developed to study control problems associated with inverted pendulums. Like most underactuated robots the Robogymnast was built to exploit the natural dynamics of the mechanism. It mimics the human acrobat who hangs from a high bar and tries to swing-up to an upside-down position with his/her hands still on the bar. Two motors located on joint 2 (hips) and joint 3 (knees) control the movement of the mechanism. Joint 1 (hands/arms) is firmly attached to a freely rotating high bar mounted on ball bearings. IWO is used to optimize the swing up motion of the robot by determining the optimum values of parameters that control the input sinusoidal voltage of the two motors. The values obtained from IWO are then applied to both simulation and experiment. Results showed that the swing up of the Robogymnast from the stable downwards position to the inverted configuration was successfully achieved.

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Motion control of underactuated three-link gymnast robot based on combination of energy and posture

Cited by 33 publications

References 21 publications

The application of IWO in LQR controller design for the Robogymnast

The application of IWO in LQR controller design for the Robogymnast

An enhanced coupling nonlinear control method for bridge cranes

Invasive weed optimization of swing-up control parameters for robot gymnast

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