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.

Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion


This paper proposes a three degrees-of-freedom tensegrity structure with a mechanism inspired by the ligamentous structure of the shoulder. The proposed mechanism simulates the wide motion ranges of the human shoulder joint and is composed of 3 rigid bodies and 16 steel wires with 3 mutually perpendicular rotating axes. Since it belongs to the class 1 tensegrity structure that the rigid bodies do not make any contact with each other, the joint has a certain amount of flexibility, which not only can help protect its mechanism from external impacts but also can prevent human injury that might happen when the mechanism and humans interact each other. Moreover, the proposed mechanism can be manufactured using fewer materials than a fully rigid mechanism, and thus, it can be made in a lightweight fashion and reduce the inertial effects as well. Finally, to actuate the robotic shoulder, the cables connected to each motor are able to drive the rotating shafts of the joint mechanism.

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