Redundancy Resolution of the Underactuated Manipulator
The domestic robot platform ACROBOTER exploits a novel concept of ceiling based locomotion. A climber unit moves on the almost obstacle free ceiling, while carries a swinging unit with a system of suspending and orienting cables. The objective of the robot is the fine positioning of the swinging unit that accomplishes path following or pick and place tasks. Its motion is controlled by ducted fan actuators additionally to the variable length suspending cables. The complexity of the mechanical structure induces the use of natural coordinates for the kinematical description. An algorithm is proposed to control this underactuated and also redundant manipulator, which can be characterized as a control-constraint based computed torque control strategy.
KeywordsMultibody System Geometric Constraint Optimization Rule Redundant Manipulator Main Cable
Unable to display preview. Download preview PDF.
- L. Bencsik and L. L. Kovács. Stability case study of an underactuated service robot. In Dynamical Systems - Nonlinear Dynamics and Control, pages 89–94, 2011.Google Scholar
- W. Blajer and K. Kolodziejczyk. Modeling of underactuated mechanical systems in partly specified motion. Journal of Theoretical and Applied Mechanics, 46(2):383–394, 2008.Google Scholar
- L. L. Kovács, A. Zelei, L. Bencsik, J. Turi, and G. Stépán. Motion control of an under-actuated service robot using natural coordinates. In Proceedings of ROMANSY 18 Robot Design, Dynamics and Control, pages 331–338, 2010.Google Scholar
- M. W. Spong and M. Vidyasagar. Robot Dynamics and Control. John Wiley & Sons, 1989. G. Stépán and et al. A ceiling based crawling, hoisting and swinging service robot platform. In Proceedings of Beyond Gray Droids: Domestic Robot Design for the 21st Century Workshop at HCI 2009, 2009.Google Scholar