Analysis of Free Giant Swing Motions of a 2-DOF Link Mechanism.

Imadu, Atsushi; Yamamoto, Katsutoshi; Ono, Kyosuke

doi:10.1299/kikaic.66.1102

Cited by 7 publications

(1 citation statement)

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“…Control methods, which utilize empirical skills catching the motion characteristics and proper motion of the system, are desirable. From the above-mentioned viewpoint, in order to achieve a robot with a high-speed, highly effective optimal motion, and the skill in movement seen in living creatures, fundamental researches on the control method and the trajectory planning method using periodic free movement for the linkage with a passive joint have been done [45][46][47][48][49][50][51].…”

Section: Introductionmentioning

confidence: 99%

Stabilization Control for the Giant Swing Motion of the Horizontal Bar Gymnastic Robot Using Delayed Feedback Control

Liu¹

2016

Complex Systems, Sustainability and Innovation

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Open-loop dynamic characteristics of an underactuated system with nonholonomic constraints, such as a horizontal bar gymnastic robot, show the chaotic nature due to its nonlinearity. This chapter deals with the stabilization problems of periodic motions for the giant swing motion of gymnastic robot using chaos control methods. In order to make an extension of the chaos control method and apply it to a new practical use, some stabilization control strategies were proposed, which were, based on the idea of delayed feedback control (DFC), devised to stabilize the periodic motions embedded in the movements of the gymnastic robot. Moreover, its validity has been investigated by numerical simulations. First, a method named as prediction-based DFC was proposed for a two-link gymnastic robot using a Poincaré section. Meanwhile, a way to calculate analytically the error transfer matrix and the input matrix that are necessary for discretization was investigated. Second, an improved DFC method, multiprediction delayed feedback control, using a periodic gain, was extended to a four-link gymnastic robot. A set of plural Poincare maps were defined with regard to the original continuous-time system as a T-periodic discrete-time system. Finally, some simulation results showed the effectiveness of the proposed methods.

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