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.

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck


This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree-of-freedom mechanism antagonistically actuated with cables and springs in parallel. As compared to manipulators built with simple revolute joints in series, manipulators with tensegrity X-joint offer a number of advantages, such as an intrinsic stability, variable stiffness, and lower inertia. This design was inspired by the musculosleketon architecture of the bird’s neck, which is known to be very dextrous. A test-bed prototype is presented and used to test computed torque control laws. Friction and cable elasticity are modeled and identified. Their effect on the performance of control laws is analyzed. It is shown that in the context of antagonistic actuation and lightweight design, friction plays a leading role and the significance of modeling cable elasticity is discussed.
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