Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method


The upper limb rehabilitation exoskeleton with cable-driven parallel structure has the advantages of light weight and large payload, etc. However, due to the non-rigid nature of the actuating cables and the different body shape of the wearer, the geometric parameters of the exoskeleton have a large error. The parameter identification of cable-driven exoskeleton is of great significance. An asynchronous self-identification method for the upper limb seven degree-of-freedom (DOF) cable-driven exoskeleton was proposed and used in a wearable multi-redundant exoskeleton. Asynchronous iteration eliminates the accumulation of joint errors. High identification reliability is achieved by selecting proper identification parameters and optimizing error model.With the method, the geometric parameters of the exoskeleton can be identified by using exoskeleton joint angle and cable length data. The experiment verifies that the success rate of parameter identification for different wearers is in line with expectations, and the control precision and stability of the prototype are greatly improved after parameter identification.

Read More

Journal of Mechanisms and Robotics Open Issues

Generated by Feedzy