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.

Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback


Due to the inherent deformability of continuum robots (CRs), closed-loop control strategies of CRs come with some challenges, including sensor integration within a limited dimension and uncertainties with the CR system. In this paper, to obtain the spatial shape information and tip position of a cable-driven CR, a draw tower grating (DTG) sensor is integrated. A shape sensing algorithm is proposed to reconstruct the shape of the CR based on the relation between the DTG sensor and the CR centerline. Then, with the feedback information of the DTG sensor, a damped least-squares (DLS)-based closed-loop controller is implemented to improve the trajectory tracking performance of the CR. To verify the effectiveness of the proposed scheme, comparative experiments are performed.

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