Underactuation induced by actuator saturation

A. Zelei, G. Stépán

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

1 Citation (Scopus)

Abstract

The saturation of actuators is an essential nonlinearity, and the consideration of the bounded actuator torques during the design of the computed torque control (CTC) is a challenging task. In this study, the saturation of the actuator torques is treated as a temporary reduction of the number of independent control inputs. Consequently, a manipulator, which is fully actuated in the neighbourhood of its desired motion, becomes underactuated when the intricate combinations of the actuator saturations occur. The cascade of two CTC algorithms is applied to resolve the problem of the temporary underactuation: the classical CTC method is self-interrupted and exchanged to a generalized CTC that is extended to underactuated systems. The corresponding control algorithm is applicable even in those cases of multi-body problems where the use of non-minimum set of coordinates provides the computationally efficient mathematical description together with servoconstraint based task definitions leading to differential algebraic equations.

Original languageEnglish
Title of host publication2015 IFToMM World Congress Proceedings, IFToMM 2015
PublisherNational Taiwan University
ISBN (Electronic)9789860460988
DOIs
Publication statusPublished - Jan 1 2015
Event14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 - Taipei, Taiwan, Province of China
Duration: Oct 25 2015Oct 30 2015

Other

Other14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
CountryTaiwan, Province of China
CityTaipei
Period10/25/1510/30/15

Fingerprint

Torque control
Actuators
Torque
Manipulators
Differential equations
Saturation

Keywords

  • Actuator saturation
  • Constrained manipulators
  • Redundancy
  • Servo-constraints
  • Underactuated systems

ASJC Scopus subject areas

  • Mechanical Engineering
  • History

Cite this

Zelei, A., & Stépán, G. (2015). Underactuation induced by actuator saturation. In 2015 IFToMM World Congress Proceedings, IFToMM 2015 National Taiwan University. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.089

Underactuation induced by actuator saturation. / Zelei, A.; Stépán, G.

2015 IFToMM World Congress Proceedings, IFToMM 2015. National Taiwan University, 2015.

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

Zelei, A & Stépán, G 2015, Underactuation induced by actuator saturation. in 2015 IFToMM World Congress Proceedings, IFToMM 2015. National Taiwan University, 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015, Taipei, Taiwan, Province of China, 10/25/15. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.089
Zelei A, Stépán G. Underactuation induced by actuator saturation. In 2015 IFToMM World Congress Proceedings, IFToMM 2015. National Taiwan University. 2015 https://doi.org/10.6567/IFToMM.14TH.WC.OS13.089
Zelei, A. ; Stépán, G. / Underactuation induced by actuator saturation. 2015 IFToMM World Congress Proceedings, IFToMM 2015. National Taiwan University, 2015.
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