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.

A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities


This article reports a method for regulating the internal forces during in-hand manipulation of an unknown shaped object with soft robotic fingers. The internal forces ensure that the object does not move between the robotic fingers, thus improving the grip. It is shown that if soft fingers show bounded conformity and the finger–object interface have bounded relative slip, then the relative angular velocity between the object and the fingertip coordinate frame in contact is bounded. Detailed derivation of the proof is presented. The proof is later used to define a new metric of relative slip. The metric is used to design a sliding mode control algorithm that results in an efficient grip, which is robust toward uncertainty in object shape. The robotic fingers are assumed to be under virtual rigidity constraint, that is, the distance between the fingertips do not change. The control algorithm is attractive as it skirts requirement of information of the shape of the object or to solve optimization problems. The grip with the robust control algorithm is shown to be finite-time stable through Lyapunov’s method. The methodology is demonstrated using simulations.
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