Point-to-point motion control of a pendulum-like 3-dof underactuated cable-driven robot

Modeling and Control of a 3-DOF pendulum-like manipulator

“…In (12a), the second term is the truncated Fourier series expansion of an odd periodic function (T = π/ω) with zero mean value [1]. In (12c), this term has been replaced with the truncated Fourier series expansion of a square wave, plus two higher-order terms.…”

“…At each optimization step, a numerical integration is employed in the second differential equation (8) to compute the predicted value |q 3P |. Thus, unlike [1], only one parameter has to be optimized during each halfperiod, and only one second order differential equation has to be integrated at each optimization step.…”

“…The device can move a point-mass end-effector over arbitrary paths, although the velocity over the path cannot be controlled. A 3-DOF under-actuated pendulum-like device capable of point-to-point motions on a planar workspace was studied in [1]. However, the dynamic model of the pendulum is not correct and the real-time control algorithm is rather complex.…”

“…In a recent work [1], the authors presented a similar robot, assuming that the first link could be modeled as a massless rope. However, their design solution is against this assumption, as the lower extremity of the rope is rigidly fixed to the stator of motor 2, which actuates the second link.…”

Research on position control of a 2-DOF joint actuated by one single motor

“…There are much reseach on the dynamics and control of various underactuated system [5][6][7][8][9]. Underactuated mechanism can be classified as the following [10]: 1) dynamics of the system (e.g.…”