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.

Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots


The movable anchor points make reconfigurable cable-driven parallel robots (RCDPRs) advantageous over conventional cable-driven parallel robots with fixed anchor points, but the movable anchor points also introduce an inherent problem—reconfiguration planning. Scholars have proposed reconfiguration planning approaches for RCDPRs, taking into account the statics and kinematics of RCDPRs. However, a real-time reconfiguration planning approach that considers the dynamics of an RCDPR and is computationally efficient enough to be integrated into the RCDPR’s dynamic controller is still not available in the literature yet. This paper develops a real-time reconfiguration planning approach for RCDPRs. A novel reconfiguration value function is defined to reflect the “value” of an RCDPR configuration and provide a reference index for the reconfiguration planning of an RCDPR. And then, the developed approach conducts reconfiguration planning based on the value of RCDPR configurations. The developed approach is computationally efficient, reducing the reconfiguration planning time by more than 93%, compared to single iteration of a box-constrained optimization-based reconfiguration planning approach. Such a high efficiency allows the developed approach to be integrated into an RCDPR’s dynamic controller that usually runs with a high frequency. Integrating reconfiguration planning and dynamic control enhances the control performance of the RCDPR. To verify the effectiveness of the developed approach and the integration of reconfiguration planning and dynamic control for RCDPRs, a case study of an RCDPR with seven cables and four movable anchor points is conducted.

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