A novel approach for modeling and tracking control of a passive-wheel snake robot

Huang, Kang; Shao, Ke; Zhen, Shengchao; Sun, Hao

doi:10.1177/1687814017693944

Cited by 22 publications

(12 citation statements)

References 40 publications

(54 reference statements)

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“…As mentioned above, there is only two actual input torques which are given in equation (22). In Figures 11 and 12, we show the variation of two elements of F c .…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Furthermore, this approach can deal with different kinds of constraints including holonomic and nonholonomic ones as well as ideal and nonideal ones. Until now, some researchers have analyzed single rigid body, 20,21 series combined mechanism, 22 parallel mechanism, 23 and flexible continuous structural systems [24][25][26] by Udwadia and Kalaba approach and designed effective controllers to deal with the problem of trajectory tracking control. In this article, we propose to apply this theory to hybrid mechanism.…”

Section: Introductionmentioning

confidence: 99%

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Udwadia–Kalaba theory for the control of bulldozer link lever

Zhao

Zhen

et al. 2018

Advances in Mechanical Engineering

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We propose to apply Udwadia-Kalaba theory to the bulldozer dynamics analysis. The bulldozer system is divided into several subsystems by this approach, which simplifies the modeling process for multi-link mechanism. Based on this approach, the constraints are classified into structure constraints and performance constraints. Structure constraints are used to set up dynamic model without regard for trajectory. Performance constraints are the desired trajectory. Then, according to the equation of motion of the unconstrained system established by Lagrange approach and system constraints which include structure and performance constraints, an explicit, closed-form analytical expression for the control force can be obtained by solving Udwadia-Kalaba equation. We demonstrate that this approach does not need to solve Lagrange multiplier, which is always difficult to obtain. However, for bulldozer link lever system, the initial conditions are difficult to satisfy the constraints in the actual situation. Thus, the problem of initial condition deviation is taken into consideration. In the end, the numerical simulations are done to prove that the trajectory of the bulldozer satisfies the designed one and the real-time forces are conveniently acquired.

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“…As mentioned above, there is only two actual input torques which are given in equation (22). In Figures 11 and 12, we show the variation of two elements of F c .…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Udwadia–Kalaba theory for the control of bulldozer link lever

Zhao

Zhen

et al. 2018

Advances in Mechanical Engineering

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“…From (15), the necessary and sufficient condition for system asymptotically stable is that roots of the characteristic equation of the system all have negative real parts. That means > 0 and > 0; the system is asymptotic stability.…”

Section: Methods For Selection and Determination Of Stability Parametersmentioning

confidence: 99%

“…The asymptotic stability control of the system is realized by modifying the constraint equations. The basic idea of the method is essentially consistent with the Baumgarte stabilization method for constraint violations [7] and can be widely used in various working environment [8][9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Determination of Stability Correction Parameters for Dynamic Equations of Constrained Multibody Systems

Guizhi

Liu

2018

Mathematical Problems in Engineering

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When analyzing mechanical systems with numerical simulation by the Udwadia and Kalaba method, numerical integral results of dynamic equations will gradually deviate from requirements of constraint equations and eventually lead to constraint violation. It is a common method to solve the constraint violation by using constraint stability to modify the constraint equation. Selection of stability parameters is critical in the particular form of the corrected equation. In this paper, the method of selecting and determining of stability parameters is given, and these parameters will be used to correct the Udwadia-Kalaba basic equation by the Baumgarte constraint stability method. The selection domain of stability parameters is further reduced in view of the singularity of the constraint matrix during the integration procedure based on the selection domain which is obtained by the system stability analysis method. Errors of velocity violation and position violation are defined in the workspace, so as to determine the parameter values. Finally, the 3-link spatial manipulator is used to verify stability parameters of the proposed method. Numerical simulation results verify the effectiveness of the proposed method.

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“…That is because the Lagrange multiplier method relies on problem-specific approaches to determine the multipliers and it is often very difficult to find the multipliers to obtain the explicit equations of motion for systems that have large numbers of degrees of freedom and a mass of non-integrable constraints. The Udwadia-Kalaba dynamic theory [50][51][52][53][54] has been proposed in recent years and provides a new modeling method for multi-body mechanical systems. The innovation of this method is mainly in the hierarchical clustering of subsystems.…”

Section: Dynamic Modelingmentioning

confidence: 99%

A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot

Zhao

Liang

et al. 2020

IJERPH

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In view of the urgent need for intelligent rehabilitation equipment for some disabled people, an intelligent, upper limb rehabilitation training robot is designed by applying the theories of artificial intelligence, information, control, human-machine engineering, and more. A new robot structure is proposed that combines the use of a flexible rope with an exoskeleton. By introducing environmentally intelligent ergonomics, combined with virtual reality, multi-channel information fusion interaction technology and big-data analysis, a collaborative, efficient, and intelligent remote rehabilitation system based on a human’s natural response and other related big-data information is constructed. For the multi-degree of the freedom robot system, optimal adaptive robust control design is introduced based on Udwdia-Kalaba theory and fuzzy set theory. The new equipment will help doctors and medical institutions to optimize both rehabilitation programs and their management, so that patients are more comfortable, safer, and more active in their rehabilitation training in order to obtain better rehabilitation results.

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A novel approach for modeling and tracking control of a passive-wheel snake robot

Cited by 22 publications

References 40 publications

Udwadia–Kalaba theory for the control of bulldozer link lever

Udwadia–Kalaba theory for the control of bulldozer link lever

Determination of Stability Correction Parameters for Dynamic Equations of Constrained Multibody Systems

A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot

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