Motion control of an under-actuated service robot using natural coordinates

László L. Kovács, Ambrus Zelei, László Bencsik, János Turi, Gábor Stépán

Research output: Chapter in Book/Report/Conference proceedingChapter

11 Citations (Scopus)

Abstract

The recent work presents the motion control of a pendulum like under—actuated service robot AC ROBOT ER. This robot is designed to be applied in indoor environments, where it can perform pick and place tasks autonomously and/or with close cooperation with humans. It can also serve as a platform that carries other service robots with lower mobility. The cable suspended robot has a complex structure and its dynamics is difficult to model using conventional robotic approaches. Instead, in this paper natural (Cartesian) coordinates are used to describe the configuration of the robot, while its dynamics is modeled as a set of differential algebraic equations. The method of computed torque control with a PD controller is applied to the investigated under—actuated system. The inverse dynamics solution is obtained via direct discretization of the DAE system. Results for a real parameter case study are presented by numerical simulations.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages331-338
Number of pages8
DOIs
Publication statusPublished - Jan 1 2010

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume524
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

    Fingerprint

Keywords

  • Differential algebraic equation
  • Inverse dynamic
  • Motion control
  • Service robot
  • Torque control

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

Cite this

Kovács, L. L., Zelei, A., Bencsik, L., Turi, J., & Stépán, G. (2010). Motion control of an under-actuated service robot using natural coordinates. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 331-338). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 524). Springer International Publishing. https://doi.org/10.1007/978-3-7091-0277-0_39