Servo-constraint based computed torque control of underactuated mechanical systems

Lászl L. Kovács, József Kövecses, Ambrus Zelei, László Bencsik, Gábor Stépan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper aims to generalize the computed torque control method for underactuated systems which are modeled by a nonminimum set of generalized coordinates subjected to geometric constraints. The control task of the underactuated robot is defined in the form of servo constraint equations that have the same number as the number of independent control inputs. A PD controller is synthesized based on projecting the equations of motion into the nullspace of the distribution matrix of the actuator forces/torques. The results are demonstrated by numerical simulation and experiments conducted on a two degrees-of-freedom device.

Original languageEnglish
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages377-382
Number of pages6
EditionPARTS A AND B
DOIs
Publication statusPublished - Dec 1 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume4

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Kovács, L. L., Kövecses, J., Zelei, A., Bencsik, L., & Stépan, G. (2011). Servo-constraint based computed torque control of underactuated mechanical systems. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 (PARTS A AND B ed., pp. 377-382). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B). https://doi.org/10.1115/DETC2011-48533