### Abstract

The paper presents the motion control of the ceiling based service robot platform ACROBOTER that contains two main subsystems. The climbing unit is a serial robot, which realizes planar motion in the plane of the ceiling. The swinging unit is hoisted by the climbing unit and it is actuated by windable cables and ducted fans. The two subsystems form a serial and subsequent closed-loop kinematic chain segments. Because of the complexity of the system we use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. Thus the dynamical model of the system is given in the form of differential-algebraic equations (DAE). The system is under-actuated and the the inverse kinematics and dynamics cannot be solved in closed form. The control task is defined by the servo-constraints which are algebraic equations that have to be considered during the calculation of control forces. In this paper the desired control inputs are determined via the numerical solution of the resulting DAE problem using the Backward Euler discretization method.

Original language | English |
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Title of host publication | Solid Mechanics and its Applications |

Pages | 11-18 |

Number of pages | 8 |

Volume | 30 |

DOIs | |

Publication status | Published - 2011 |

Event | IUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments - Budapest, Hungary Duration: Jun 7 2010 → Jun 11 2010 |

### Publication series

Name | Solid Mechanics and its Applications |
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Volume | 30 |

ISSN (Print) | 18753507 |

### Other

Other | IUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments |
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Country | Hungary |

City | Budapest |

Period | 6/7/10 → 6/11/10 |

### Fingerprint

### ASJC Scopus subject areas

- Aerospace Engineering
- Automotive Engineering
- Civil and Structural Engineering
- Mechanical Engineering
- Acoustics and Ultrasonics

### Cite this

*Solid Mechanics and its Applications*(Vol. 30, pp. 11-18). (Solid Mechanics and its Applications; Vol. 30). https://doi.org/10.1007/978-94-007-1643-8_2

**The ACROBOTER platform - Part 2 : Servo-constraints in computed torque control.** / Zelei, Ambrus; Stépán, G.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Solid Mechanics and its Applications.*vol. 30, Solid Mechanics and its Applications, vol. 30, pp. 11-18, IUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments, Budapest, Hungary, 6/7/10. https://doi.org/10.1007/978-94-007-1643-8_2

}

TY - GEN

T1 - The ACROBOTER platform - Part 2

T2 - Servo-constraints in computed torque control

AU - Zelei, Ambrus

AU - Stépán, G.

PY - 2011

Y1 - 2011

N2 - The paper presents the motion control of the ceiling based service robot platform ACROBOTER that contains two main subsystems. The climbing unit is a serial robot, which realizes planar motion in the plane of the ceiling. The swinging unit is hoisted by the climbing unit and it is actuated by windable cables and ducted fans. The two subsystems form a serial and subsequent closed-loop kinematic chain segments. Because of the complexity of the system we use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. Thus the dynamical model of the system is given in the form of differential-algebraic equations (DAE). The system is under-actuated and the the inverse kinematics and dynamics cannot be solved in closed form. The control task is defined by the servo-constraints which are algebraic equations that have to be considered during the calculation of control forces. In this paper the desired control inputs are determined via the numerical solution of the resulting DAE problem using the Backward Euler discretization method.

AB - The paper presents the motion control of the ceiling based service robot platform ACROBOTER that contains two main subsystems. The climbing unit is a serial robot, which realizes planar motion in the plane of the ceiling. The swinging unit is hoisted by the climbing unit and it is actuated by windable cables and ducted fans. The two subsystems form a serial and subsequent closed-loop kinematic chain segments. Because of the complexity of the system we use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. Thus the dynamical model of the system is given in the form of differential-algebraic equations (DAE). The system is under-actuated and the the inverse kinematics and dynamics cannot be solved in closed form. The control task is defined by the servo-constraints which are algebraic equations that have to be considered during the calculation of control forces. In this paper the desired control inputs are determined via the numerical solution of the resulting DAE problem using the Backward Euler discretization method.

UR - http://www.scopus.com/inward/record.url?scp=84861033744&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84861033744&partnerID=8YFLogxK

U2 - 10.1007/978-94-007-1643-8_2

DO - 10.1007/978-94-007-1643-8_2

M3 - Conference contribution

AN - SCOPUS:84861033744

SN - 9789400716421

VL - 30

T3 - Solid Mechanics and its Applications

SP - 11

EP - 18

BT - Solid Mechanics and its Applications

ER -