Latest Papers

ASME Journal of Mechanisms and Robotics

  • Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
    on January 25, 2023 at 12:00 am

    AbstractAn enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees of freedom. The method exploits the concept of partitioning the independent coordinates into actuated and unactuated ones (through a QR-decomposition) and of linearly combined output, to obtain the internal dynamics of the nonminimum-phase system and then to stabilize it through proper output redefinition. Then, the exact algebraic model of the actuated sub-system is inverted, leading to the desired control forces with just minor approximations and no need for pre-actuation. The effectiveness of the proposed approach is assessed by three numerical test cases, by comparing it with some meaningful benchmarks taken from the literature. Finally, experimental verification through an underactuated robotic arm with two degrees of freedom is performed.

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Accepted Manuscript
Sven Lilge, Kathrin Nülle, Georg Böttcher, Svenja Spindeldreier, Jessica Burgner-Kahrs

Author and Article InformationJ. Mechanisms Robotics. 1-34 (34 pages)Paper No: JMR-20-1163 Online: November 7, 2020


The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit from their structural advantages, such as a high dexterity and compliance. While some applications and designs of these novel parallel continuum robots have been presented, the field remains largely unexplored. Furthermore, an exact quantification of the kinematic advantages and disadvantages when using continuous structures in parallel robots is yet to be performed. In this paper, planar parallel robot designs using tendon actuated continuum robots instead of rigid links and discrete joints are proposed. Using the well known 3-RRR manipulator as a reference design, two parallel continuum robots are derived. Inverse and differential kinematics of these designs are modeled using constant curvature assumptions, which can be adapted for other actuation mechanisms than tendons. Their kinematic performances are compared to the conventional parallel robot counterpart. On the basis of this comparison, the advantages and disadvantages of using continuous structures in parallel robots are quantified and analyzed. Results show that parallel continuum robot can be kinematic equivalent and exhibit similar kinematic performances in comparison to conventional parallel robots depending on the chosen design.Issue

Section:Research Paper
Keywords:Compliant MechanismsParallel PlatformsTheoretical Kinematics
Topics:Kinematic analysisKinematicsRobotsTendonsDesignCompliant mechanismsFlexible structuresManipulatorsRobotics