A new kinetostatic model for humanoid robots using screw theory

Toscano, Gustavo Sobral; Simas, Henrique; Castelan, Eugênio B.; Martins, Daniel

doi:10.1017/s0263574717000595

Cited by 6 publications

(1 citation statement)

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“…Screw theory is a mathematical tool for the analysis of spatial mechanics, the main element of this theory is the screw [14]. The screw is constructed by two three-dimensional vectors, where these vectors are angular velocity and linear velocity [15,16]. Therefore, it is possible to study rigid bodies using this technique.…”

Section: Introductionmentioning

confidence: 99%

Phase-Space Modeling and Control of Robots in the Screw Theory Framework Using Geometric Algebra

Medrano-Hermosillo¹,

Lozoya-Ponce²,

Rodríguez-Mata³

et al. 2023

Mathematics

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The following paper talks about the dynamic modeling and control of robot manipulators using Hamilton’s equations in the screw theory framework. The difference between the proposed work with diverse methods in the literature is the ease of obtaining the laws of control directly with screws and co-screws, which is considered modern robotics by diverse authors. In addition, geometric algebra (GA) is introduced as a simple and iterative tool to obtain screws and co-screws. On the other hand, such as the controllers, the Hamiltonian equations of motion (in the phase space) are developed using co-screws and screws, which is a novel approach to compute the dynamic equations for robots. Regarding the controllers, two laws of control are designed to ensure the error’s convergence to zero. The controllers are computed using the traditional feedback linearization and the sliding mode control theory. The first one is easy to program and the second theory provides robustness for matched disturbances. On the other hand, to prove the stability of the closed loop system, different Lyapunov functions are computed with co-screws and screws to guarantee its convergence to zero. Finally, diverse simulations are illustrated to show a comparison of the designed controllers with the most famous approaches.

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Section: Introductionmentioning

confidence: 99%