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Redundancy Resolution of the Underactuated Manipulator

  • Ambrus Zelei
  • László Bencsik
  • László L. Kovács
  • Gábor Stépán
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

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.

Keywords

Multibody System Geometric Constraint Optimization Rule Redundant Manipulator Main Cable 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Ambrus Zelei
    • 1
  • László Bencsik
    • 2
  • László L. Kovács
    • 1
  • Gábor Stépán
    • 2
  1. 1.HAS-BUTE Research Group on Dynamics of Machines and VehiclesBudapestHungary
  2. 2.Department of Applied MechanicsBudapest University of Technology and EconomicsBudapestHungary

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