Redundancy Resolution of the Underactuated Manipulator

Ambrus Zelei, László Bencsik, László L. Kovács, G. Stépán

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Citations (Scopus)

Abstract

The domestic robot platform ACROBOTER exploits a novel concept of ceiling based locomotion. A climber unit moves on the almost obstacle free ceiling, while carries a swinging unit with a system of suspending and orienting cables. The objective of the robot is the fine positioning of the swinging unit that accomplishes path following or pick and place tasks. Its motion is controlled by ducted fan actuators additionally to the variable length suspending cables. The complexity of the mechanical structure induces the use of natural coordinates for the kinematical description. An algorithm is proposed to control this underactuated and also redundant manipulator, which can be characterized as a control-constraint based computed torque control strategy.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages233-240
Number of pages8
DOIs
Publication statusPublished - Jan 1 2013

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume544
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Geometric Constraint
  • Main Cable
  • Multibody System
  • Optimization Rule
  • Redundant Manipulator

ASJC Scopus subject areas

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

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  • Cite this

    Zelei, A., Bencsik, L., Kovács, L. L., & Stépán, G. (2013). Redundancy Resolution of the Underactuated Manipulator. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 233-240). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544). Springer International Publishing. https://doi.org/10.1007/978-3-7091-1379-0_29