Dynamics and control of underactuated manipulation systems: A discrete-time approach

Scherm, Norbert; Heimann, Bodo

doi:10.1016/s0921-8890(99)00089-5

Cited by 17 publications

(6 citation statements)

References 14 publications

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“…A horizontal 2 degree-of-freedom underactuated robot is used by Scherm and Heimann [13] to demonstrate a dynamic discrete-time control system. The inverse manipulator dynamics of the robot were used to form a set of nonlinear differential equations that could be translated into a nonlinear discrete-time control system.…”

Section: Underactuated Systemsmentioning

confidence: 99%

Passive Dynamic Analysis: Motivation for Use and Method Extension

Short

Poo²,

Ang³

et al. 2012

Engineering and Applied Science

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The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emphasis in research and development towards greater use of passive dynamic methods. Second, a method extension allowing for passive behavior analysis of serial link manipulators, simulated on a two-link robot, will demonstrate the usefulness of such methods. The extension itself will allow for greater investigation into the passive dynamics of serial link manipulators, allowing for characteristics such as actuator efficiency and overall bandwidth capabilities to be analyzed during force and motion tasks. The information presented in this paper will contribute to the passive dynamic methods available as well as promote further investigation into the field of research.

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Section: Underactuated Systemsmentioning

confidence: 99%

Passive Dynamic Analysis: Motivation for Use and Method Extension

Short

Poo²,

Ang³

et al. 2012

Engineering and Applied Science

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“…Ordnung der Zustände nach den Abtastdauern charakterisiert. Der Algorithmus zur Bestimmung von J v findet sich in [13].…”

Section: Bidirektionale Bahnplanungunclassified

Bahnplanung und Regelung unteraktuierter Manipulatoren mittels nichtlinearer zeitdiskreter AnsätzePath-planning and Control of Underactuated Manipulators by Nonlinear Discrete-time Approaches

Weidemann¹,

Scherm

Heimann

2010

At - Automatisierungstechnik

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Zusammenfassung In der Klasse der unteraktuierten Systeme stellen horizontal bewegte Manipulatoren mit passiven Gelenken eine besondere Herausforderung dar, weil die Linearisierung in einer Ruhelage zu einem nicht vollständig steuerbaren Modell führt. Für Bewegungen, die in Ruhelagen beginnen und enden, sind lineare Ansätze zum Reglerentwurf ungeeignet. Auch bei Wahl eines nichtlinearen Modells liegt in der Umgebung einer Ruhelage ein schlecht konditioniertes Regelungsproblem vor. Zeitkontinuierliche Ansätze, die ein asymptotisches Annähern an die Ruhelage fordern, führen daher selten auf ein zufriedenstellendes Systemverhalten. Die vorgestellten zeitdiskreten Ansätze ermöglichen dieses Problem mittels Bahnplanung auf endlichem Zeitintervall und DeadBeat-Regelung zu umgehen. Neben Bahnplanungsansätzen, die schnelle Konvergenz und systematische Berechnung der Bewegungsdauer gewährleisten, werden zwei Regler präsentiert und verifiziert.Summary Planar, horizontal manipulators with passive joints are a special challenge within the class of underactuated systems, because a linearization about an equilibrium leads to a model which is not completely controllable. Hence, for rest-to-rest motions linear control approaches are not applicable. The control problem is illconditioned close to an equilibrium, even if using a nonlinear model. Therefore, continuous-time controllers, which guarantee that the system approaches an equilibrium asymptotically, usually don't lead to satisfactory behavior. The presented discrete-time path-planning and control approaches avoid this problem by ensuring convergence to an equilibrium in a finitetime interval. Besides path-planning approaches, which provide good convergence properties and a systematic calculation of the transition time, two feedback controllers are presented and verified.

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“…They also proved that an underactuated manipulator cannot be asymptotically stabilized to an equilibrium point by a smooth timeinvariant state feedback. Some studies on horizontal underactuated systems have been done utilizing this second-order nonholonomic constraint (Arai 1996;Imura et al 1996;Lynch 1996;Suzuki and Nakamura 1996;De Luca et al 1997;Nakamura et al 1997;Ishikawa and Sampei 1998;Reyhanoglu et al 1998;De Luca and Oriolo 2000;Scherm and Heimann 2000). However, most of them concern a system with a single passive joint.…”

Section: Introductionmentioning

confidence: 99%

Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints

Shiroma

Arai

Tanie

2002

The International Journal of Robotics Research

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Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraints on the system are second-order nonholonomic constraints. We attempted to control those n coupled rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussion, it is possible to compose a positioning trajectory by connecting rotational and translational trajectory segments. Each rigid body can be rotated about its center of percussion one after another. When all of the rigid bodies are aligned on a straight line, they can be translated. The algorithm for positioning is presented. Simulations show that the coupled planar rigid bodies can reach the desired configuration by the constructed inputs.

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Dynamics and control of underactuated manipulation systems: A discrete-time approach

Cited by 17 publications

References 14 publications

Passive Dynamic Analysis: Motivation for Use and Method Extension

Passive Dynamic Analysis: Motivation for Use and Method Extension

Bahnplanung und Regelung unteraktuierter Manipulatoren mittels nichtlinearer zeitdiskreter AnsätzePath-planning and Control of Underactuated Manipulators by Nonlinear Discrete-time Approaches

Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints

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