Abstract
This paper presents the conceptual design and the dynamics modeling aspects of a pendulum-like under–actuated service robot platform ACROBOTER. The robot is designed to operate in indoor environments and perform pick and place tasks as well as carry other service robots with lower mobility. The ACROBOTER platform extends the workspace of these robots to the whole cubic volume of the indoor environment by utilizing the ceiling for planar movements. The cable suspended platform has a complex structure the dynamics of which is difficult to be modeled by using conventional robotic approaches. Instead, in this paper natural (Cartesian) coordinates are proposed to describe the configuration of the robot which leads to a dynamical model in the form of differential algebraic equations. The evolution of the ACROBOTER concepts is described in detail with a particular attention on the under–actuation and redundancy of the system. The influence of these properties and the applied differential algebraic model on the controller design is discussed.
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© 2011 Springer Dordrecht Heidelberg London New York
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Kovács, L.L., Zelei, A., Bencsik, L., Stépán, G. (2011). The ACROBOTER Platform – Part 1: Conceptual Design and Dynamics Modeling Aspects. In: Stépán, G., Kovács, L.L., Tóth, A. (eds) IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. IUTAM Bookseries, vol 30. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-1643-8_1
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DOI: https://doi.org/10.1007/978-94-007-1643-8_1
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-1642-1
Online ISBN: 978-94-007-1643-8
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