Redundancy Resolution of the Underactuated Manipulator

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

doi:10.1007/978-3-7091-1379-0_29

Cited by 4 publications

(7 citation statements)

References 5 publications

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“…The proposed system finds its application in a crane, where it can be used to damp the residual vibrations when the desired crane position is reached. Other areas of applications can be found in mechatronic systems and flexible robotics-a pendulum-like robot [29][30][31], where similar problems can occur.…”

Section: The Variable-length Pendulum Systemsmentioning

confidence: 99%

“…After seeing the various analysis of the variable-length pendulum presented by different authors on different models, using different approaches, below are distinguish applications of the variable-length pendulum systems. There are various areas of application of these forms of pendulums, which include: energy harvesters (for example, in WEC), load-lifting devices (in cranes), robotics [4,6,[41][42][43][44][45][46][47], and a pendulum-like robot in [29][30][31], to mention but a few.…”

Section: Applicationsmentioning

confidence: 99%

“…The numerical solutions are presented in Figs. 28,29,30,31,32,33,34,35,36,37,38,39. The value of = 2 is kept constant with zero initial velocities in all cases, but the value of m varies in time.…”

Section: Equations Of Motionmentioning

confidence: 99%

See 2 more Smart Citations

On the Modeling and Simulation of Variable-Length Pendulum Systems: A Review

Yakubu

Olejnik

Awrejcewicz

2022

Arch Computat Methods Eng

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A comprehensive review of variable-length pendulums is presented. An attempt at a unique evaluation of current trends in this field is carried out in accordance with mathematical modeling, dynamical analysis, and original computer simulations. Perspectives of future trends are also noted on the basis of various concepts and possible theoretical and engineering applications. Some important physical concepts are verified using dedicated numerical procedures and assessed based on dynamical analysis. At the end of the review, it is concluded that many variable-length pendulums are very demanding in the modeling and analysis of parametric dynamical systems, but basic knowledge about constant-length pendulums can be used as a good starting point in providing much accurate mathematical description of physical processes. Finally, an extended model for a variable-length pendulum’s mechanical application being derived from the Swinging Atwood Machine is proposed. The extended SAM presents a novel SAM concept being derived from a variable-length double pendulum with a suspension between the two pendulums. The results of original numerical simulations show that the extended SAM’s nonlinear dynamics presented in the current work can be thoroughly studied, and more modifications can be achieved. The new technique can reduce residual vibrations through damping when the desired level of the crane is reached. It can also be applied in simple mechatronic and robotic systems.

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Section: The Variable-length Pendulum Systemsmentioning

confidence: 99%

Section: Applicationsmentioning

confidence: 99%

See 1 more Smart Citation

On the Modeling and Simulation of Variable-Length Pendulum Systems: A Review

Yakubu

Olejnik

Awrejcewicz

2022

Arch Computat Methods Eng

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“…Since the notions of both kinematic redundancy and underactuation appear, we proposed a classification of the different combinations of these ideas (Zelei et al 2012) as it is summarized in Table 2. An underactuated manipulator equipped with more independent control inputs than required to perform a specified task is called dynamically redundant underactuated system.…”

Section: Redundancymentioning

confidence: 99%

Development of the Acroboter Service Robot Platform

Bencsik¹,

Zelei²,

Stépàn

2016

ROMANSY 21 - Robot Design, Dynamics and Control

Self Cite

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The domestic robot platform Acroboter exploits a novel concept of ceiling based locomotion. The robot platform is designed to perform pick and place tasks as well as carry other service robots with lower mobility. The crane-like Acroboter platform extends the workspace of these robots to the whole cubic volume of the indoor environment by utilizing the almost obstacle free ceiling. We summarize the evolution of the structure of the robot, the dynamic modelling concept and the control strategy which are the results of concurrent engineering.

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“…Since the notions of both kinematic redundancy and underactuation appear, we proposed a classification of the different combinations of these ideas (Zelei et al 2012) as it is summarized in Table 2. Since the notions of both kinematic redundancy and underactuation appear, we proposed a classification of the different combinations of these ideas (Zelei et al 2012) as it is summarized in Table 2.…”

Section: Redundancymentioning

confidence: 99%