Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy

Maciel, Benedito Carlos; Terra, Marco H.; Bergerman, Marcel

doi:10.1002/rob.10113

Cited by 10 publications

(2 citation statements)

References 24 publications

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“…If p ≤ a and rank M PA = p, we have the solution of θ A . Therefore, referring to [29], the dynamic coupling index is defined as the manipulability of M PA to evaluate the transmission efficiency from θ A to θ P .…”

Section: The Coupling Inertia Matrix Between Active Joints and Passivmentioning

confidence: 99%

Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

Jia

Yuan

Chen

et al. 2019

International Journal of Aerospace Engineering

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For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as "kinematic coupling relationships" and "dynamic coupling relationships," inside the system. With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation between active joints and end-effector. We establish the dynamic model based on the Lagrange equation, and the system inertia matrix is partitioned according to the distribution of active joints, passive joints, and the base. Then, kinematic and dynamic coupling relationships are explicitly derived, and coupling indexes are defined to depict coupling degree. Motions of a space manipulator with free-swinging joint failure simultaneously satisfy the first-order nonholonomic constraint (kinematic coupling relationships) and the second-order nonholonomic constraint (dynamic coupling relationships), and the manipulator can perform tasks through motion planning and control. Finally, simulation experiments are carried out to verify the existence and correctness of the first-order and second-order nonholonomic constraints and display task execution effects of the space manipulator. This research analyzes the kinematic and dynamic characteristics of the free-floating space manipulator with free-swinging joint failure for the first time. It is the theoretical basis of free-swinging joint failure treatment for a space manipulator. Passive joints Base Space manipulator End-effector − Figure 1: Kinematic model of the n-DOF space manipulator with free-swinging joint failure.3 International Journal of Aerospace Engineering R 3×n represents the contribution of θ to angular momentum L. J LM and J AM can be expressed as J LM = j LM1 , j LM2 ,⋯,j LMn and J AM = j AM1 , j AM2 ,⋯,j AMn , respectively, and we can find column vectors corresponding to passive joints and active joints to make up matrixesEquations (6) and (7) can be expressed in matrix form T P T ∈ R 3+p ×1 and the Jacobian matrix iswhere J eA v is the first three rows of J eA . The kinematic coupling index is the manipulability of J vePA . For the task to eliminate the base attitude deflection when regulating passive joints, we select the task velocity vector as v ωbP = θ T P , ω T 0 T ∈ R p+3 ×1 and the Jacobian matrix iswhere J bA ω is the last three row vectors of J bA . The kinematic coupling index is the manipulability of J ωbPA . To eliminate base attitude disturbance, we keep ω 0 ≡ 0 [28]. For general space tasks, we should select v task = v task1 , v task2 ,⋯,v task f T ∈ R f ×1 according to controlled passive units for current task requirements. f is the dimensionality of v task . Then, the corresponding row vectors from J t need to be taken out to construct the Jacobian matrix:...

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Section: The Coupling Inertia Matrix Between Active Joints and Passivmentioning

confidence: 99%

Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

Jia

Yuan

Chen

et al. 2019

International Journal of Aerospace Engineering

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show abstract

“…[5] . For the research of under-actuated mechanism, considerations have mainly been given to the control strategy and dynamic characteristics by Luca [6] , Scherm [7] , Maciel [8] , et al According to the existing research concerning redundantly-actuated mechanism and under-actuated mechanism, no relationship between the mechanism degree of freedom and the number of the driving link has been involved, indicating that although the analysis and calculation for the mechanism degree of freedom is a classic issue on the theory of mechanism and more research results have been obtained hereof, the relationship between the mechanism degree of freedom and the number of the driving link has not been clarified yet, and the relationship between the number of the executive link and the mechanism degree of freedom has never been involved. Therefore, the mechanism degree of freedom has not been incompletely analyzed nor calculated theoretically.…”

mentioning

confidence: 99%

Research on common issues for relationship between mechanism degree of freedom, driving link and executive link

Wang

2009

Sci. China Ser. E-Technol. Sci.

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During engineering practice and theoretical research, the mechanism degree of freedom is sometimes unequal to the number of the driving link, which is unable to be explained according to the classic theory of the mechanism degree of freedom. To solve this problem, the duality description for operating laws of mechanism is introduced based on the concepts of duality. The Junction-Structure Equation is established for the port descriptions of general ideal mechanism and the functional description for the mechanism degree of freedom is described by utilization of bond graph theory. The force-transfer degree of freedom, i.e. the antithesis concept of movement-transfer degree of freedom, is introduced and defined based on the analysis of energy transfer as well as the analysis of signal causality. By utilization of structural description, functional description and duality description for the equation of degree of freedom, the relationship between the movement-transfer degree of freedom and force-transfer degree of freedom is further explored and analyzed. Thus, the relationship between the mechanism degree of freedom upon the driving link and the executive link is described generally. Finally, some typical relationships between the mechanism degree of freedom, the driving link and the executive link are analyzed.duality, bond graph, Junction-Structure Equation, driving link, executive link, degree of freedom

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Regulation of Space Manipulators with Free-Swinging Joint Failure Based on Iterative Learning Control

Jia

Chen

et al. 2021

Intelligent Robotics and Applications

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Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy

Cited by 10 publications

References 24 publications

Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

Research on common issues for relationship between mechanism degree of freedom, driving link and executive link

Regulation of Space Manipulators with Free-Swinging Joint Failure Based on Iterative Learning Control

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