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.

Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot

Abstract

Cosimulation is widely used as a powerful tool for performance evaluation of systems design. This approach presents advantages over traditional design methodologies for saving money and time in the development process and the possibility of evaluating rapidly design alternatives by using virtual prototypes. This article presents an adams/matlab cosimulation for the dynamics and control of a Single-Wheel pendulum ROBot (SWROB) with inertial locomotion actuation to characterize design solutions by means of validation of analytical results. The obtained results by the proposed cosimulation show a significant performance based on the analytical and programming efforts in characterizing and simulating the designed system model. Moreover, open-loop experimental results are presented to validate both the analytical model and the virtual prototype.
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