Throwing Motion Control of the Springed Pendubot

Shoji, Takuya; Katsumata, Shunsuke; Nakaura, Shigeki; Sampei, Mitsuji

doi:10.1109/tcst.2012.2192121

Cited by 16 publications

(8 citation statements)

References 16 publications

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“…In fact, underactuated robots are manipulators with one or more nonactuated joints, and often, the actuators are substituted by torsional springs [2], even if interesting exceptions exist [3,4]. Possible applications of underactuated robots include industrial robots, legged locomotion, and surgical robots [5,6]. There are some studies on underactuated grasping tools [7][8][9].…”

Section: Introduction 1state Of the Artmentioning

confidence: 99%

Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots

et al. 2023

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Underactuated robots have fewer actuators than degrees of freedom (DOF). Nonactuated joints can be equipped with torsional springs. Underactuated robots can be controlled in a point-to-point motion if they have a particular mass distribution that makes them differentially flat. The trajectory described by the robot moving from the start point to the end point largely depends on the torsional stiffness of the nonactuated joints and on motion time. Thus, the same point-to-point motion can be obtained by sweeping different parts of the workspace. This property increases the dexterity of the robot. This paper focuses on the trajectories of a 3-DOF robot moving in the horizontal plane with two actuators and a torsional spring. Parametric analyses showing the effect of torsional stiffness and motion time are presented. The existence of combinations of torsional stiffness and motion time that minimize the motion torques or the swept area is discussed. The area swept by the underactuated robot is compared with the one swept by an equivalent actuated robot performing the same task. Reductions in the swept area of up to 36% are obtained. Finally, numerical results are validated by means of experimental tests on a simplified prototype.

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Section: Introduction 1state Of the Artmentioning

confidence: 99%

Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots

et al. 2023

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“…For instance, the OCP has been solved employing the Hessian approximation and gradient computation based on discrete adjoint in Yedeg and Wadbro (2013) to achieve the longest pitch. A control strategy for throwing the ball by a two-degree-of-freedom manipulator based on the unstable zero dynamics concept has been proposed in Shoji et al (2013). By consideration of the unstable zero dynamics as the dynamic model of the robot links, it can drive the ball along the pre-defined path at maximum releasing speed to throw it as far as possible.…”

Section: Introductionmentioning

confidence: 99%

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

Asgari

Nikoobin

2021

Transactions of the Institute of Measurement and Control

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This study is aimed at finding the entire points that a manipulator can launch an object onto by an optimal motion. These points are called throw-able workspace, which are located outside the reachable workspace of the robot. From an optimization point of view, some throwing parameters can be found to decrease motion cost. In this paper, by using this concept, the best combination of throwing and trajectory planning is attempted. The proposed method consists of two basic ideas: first, defining the optimal throwing problem as the optimal control problem (OCP) and solving it using the indirect solution approach based on the fundamental lemma of calculus of variations. To achieve the best release angle and speed, the throwing equation of motion is applied as a moving-end boundary condition (BC). Second, based on the obtained optimal throwing, an algorithm is presented to calculate the maximum throw-able workspace. The simulation results demonstrate the effectiveness of the proposed framework for both single link and spatial two-degree-of-freedom throwing robots.

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“…Underactauted Euler-Lagrange systems, which have fewer independent controls than the number of degrees of freedom (DOF) or configuration variables, have received extensively attentions in a broad range of applications including robotic and aerospace systems. For example, crane systems [3]- [5], Pendubot [6], [7], Acrabot [8], surface vessel [9]- [11], hypersonic vehicles [12], quadrotor systems [13], [14] and flexible or multi-link manipulators [15]- [18]. Although underactuated systems has a lower number of actuators compared with one associated with overactuated systems, the complexity of the control system design is increased.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control of a class of underactuated system with non-integrable momentum

Chen

Van

2020

Journal of the Franklin Institute

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In this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbed underactuated system with a non-integral momentum. In this scheme, by initially maintaining a subset of actuated variables on sliding manifolds, the underactuated system with the non-integrable momentum can be approximated by one with the integrable momentum in finite time. During sliding, a subset of the actuated variables converge to zero and a physically meaningful diffeomorphism is systematically calculated to transform the reduced order sliding motion into one in a strict feedback normal form in which the control signals are decoupled from the underactuated subsystem. Furthermore, based on the perturbed strict feedback form, it is possible to find a sliding mode control law to ensure the asymptotic stability of the remaining actuated and unactuated variables. The design efficacy is verified via a multi-link planar robot case study.

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Throwing Motion Control of the Springed Pendubot

Cited by 16 publications

References 16 publications

Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots

Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

Sliding mode control of a class of underactuated system with non-integrable momentum

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