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 Virtual Work Model for the Design and Parameter Identification of Cylindrical Pressure-Driven Soft Actuators


In this paper, we derive a model based on the principle of virtual work to describe the deformations of cylindrical pressure-driven soft actuators with four types of fiber reinforcement and with externally applied forces. Such cylindrical actuators are often used as the basis for multi-chamber soft robotic systems, for example, bending actuators. In the virtual work model, each type of reinforcement leads to particular geometric constraints; the energy of the stretched material is determined by the Yeoh material model. Finally, the stretch of the actuator is solved numerically by a minimization problem. The virtual work model yielded only little deviations of the predicted stretch relative to finite element simulations in abaqus. The key contribution of the virtual work model is improved parameter identification for the modeling of cylindrical soft actuators, as it illustrates the possibility to distinguish between material-dependent behavior and geometry-dependent behavior of these actuators. Also, the virtual work model is applicable in the design process of the investigated actuators. We demonstrate that an optimization of the actuator’s inner and outer radii and of its fiber angle, respectively, is possible and we derive design rules including criteria for the choice of fiber reinforcement.

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