scholarly journals Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics

Automatica ◽  
2007 ◽  
Vol 43 (5) ◽  
pp. 842-851 ◽  
Author(s):  
Wail Gueaieb ◽  
Salah Al-Sharhan ◽  
Miodrag Bolic
Keyword(s):  
Computationally Efficient ◽  
Uncertain Dynamics ◽  
Closed Chain ◽  
Efficient Control

scholarly journals Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

2017 ◽  
Vol 354 (17) ◽  
pp. 7767-7793 ◽  
Author(s):  
Yi Ren ◽  
Zhengsheng Chen ◽  
Yechao Liu ◽  
Yikun Gu ◽  
Minghe Jin ◽  
...  
Keyword(s):  
Force Control ◽  
Uncertain Dynamics ◽  
Closed Chain ◽  
Dual Arm ◽  
Cooperative Manipulators

scholarly journals Constraint Embedding for Vehicle Suspension Dynamics

2016 ◽  
Vol 63 (2) ◽  
pp. 193-213
Author(s):  
Abhinandan Jain ◽  
Calvin Kuo ◽  
Paramsothy Jayakumar ◽  
Jonathan Cameron
Keyword(s):  
Ground Vehicles ◽  
Computationally Efficient ◽  
Dynamics Model ◽  
Time Dynamics ◽  
Vehicle Suspensions ◽  
Closed Chain ◽  
Constraint Embedding ◽  
Suspension Dynamics ◽  
Integration Techniques ◽  
The Cost

Abstract The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle.

scholarly journals An analytic solution for the force distribution based on Cartesian compliance models

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141982747 ◽  
Author(s):  
Pengfei Wang ◽  
Yapeng Shi ◽  
Fusheng Zha ◽  
Zhenyu Jiang ◽  
Xin Wang ◽  
...  
Keyword(s):  
Analytic Solution ◽  
Linear Constraints ◽  
Quadruped Robot ◽  
Contact Forces ◽  
Force Distribution ◽  
Computationally Efficient ◽  
Efficient Manner ◽  
Closed Chain ◽  
Internal Forces ◽  
Increasing Demand

With the advent of force control in legged robots, there is an increasing demand in research on controlling contact forces that can ensure stable interaction and balance of the system. This article aims to solve the force distribution problem by an analytic solution to regulate the contact forces particularly in a computationally efficient manner. To this end, compliance models, consisting of a virtual model of the torso and impedance models of supporting feet, are developed for a quadruped robot. The linear constraints are formulated for the analytic method based on the compliance models, and the minimization of foot slippage and the internal forces within the closed chain are also taken into account. Moreover, given the compliance models, the postural compensation of the torso can be achieved by modifying the trajectories of supporting feet in order to generate desired forces. The comparisons between the proposed analytic and numerical methods show that the analytic one is advantageous for embedded controllers due to its high computational efficiency. Finally, the effectiveness of the proposed method is first validated in simulations and then in experiments on a physical quadruped robot, and the data are presented and analyzed.

Computationally efficient model of the implanted knee for time-sensitive applications

2020 ◽  
Author(s):  
E Bori ◽  
A Navacchia ◽  
L Wang ◽  
L Duxbury ◽  
S McGuan ◽  
...  
Keyword(s):  
Computationally Efficient
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