Design and Experimental Validation of a 3-DOF Underactuated Pendulum-Like Robot
IEEE/ASME Transactions on Mechatronics(2020)
摘要
This article presents the design and the experimental validation of a novel 3-degree-of-freedom (DOF) pendulum-like cable-driven robot capable of executing point-to-point motions by leveraging partial feedback linearization control and on-line trajectory planning based on adaptive frequency oscillators (AFOs). Unlike most cable-suspended parallel robots, which rely on at least
$n$
actuated cables to control
$n$
DOF, the proposed robot is capable of performing 3-DOF point-to-point motions, from a starting pose to a goal one within its dynamic workspace, by means of two actuators only. Feedback linearization allows the dynamics of the variable-length pendulum to be decoupled from the orientation of the end effector, enabling the device to use parametric excitation to control the oscillations of the variable-length pendulum, akin to a playground swing. A pool of AFOs is introduced to enable smooth, lag free on-line estimations of the current phase of the pendulum oscillation to inform the on-line planner and the parametric excitation controller. Experimental results demonstrate feasibility of the proposed design and control approach.
更多查看译文
关键词
End effectors,Trajectory,Planning,Pulleys,Oscillators,Dynamics
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络