Kinematic modeling and control of a robot arm using unit dual quaternions

In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth study. This paper first studies the elastic deformation and vibration of the flexible space manipulator and the robust control problem of the system trajectory tracking for free-floating flexible dual-arm space robots.

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Kinematic modeling and control of a novel pneumatic soft robotic arm

Chinese Journal of Aeronautics ◽

10.1016/j.cja.2021.07.015 ◽

2021 ◽

Author(s):

Hongwei Li ◽

Yan Xu ◽

Chao Zhang ◽

Huxiao Yang

Keyword(s):

Robotic Arm ◽

Kinematic Modeling ◽

Modeling And Control ◽

And Control ◽

Soft Robotic Arm

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Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9123 ◽

2019 ◽

Author(s):

Vikram Ramanathan ◽

Andy Zelenak ◽

Mitch Pryor

Keyword(s):

Feedback Linearization ◽

Controller Design ◽

Kinematic Model ◽

Nonholonomic Constraints ◽

Kinematic Modeling ◽

Nonlinear Controller ◽

Center Of Rotation ◽

Modeling And Control ◽

Instantaneous Center ◽

And Control

Abstract This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.

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Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

Sensors ◽

10.3390/s19204461 ◽

2019 ◽

Vol 19 (20) ◽

pp. 4461 ◽

Cited By ~ 1

Author(s):

Weihai Chen ◽

Zhongyi Li ◽

Xiang Cui ◽

Jianbin Zhang ◽

Shaoping Bai

Keyword(s):

Mechanical Design ◽

Kinematic Model ◽

Light Weight ◽

Skeletal System ◽

Kinematic Modeling ◽

Modeling And Control ◽

Arm Rehabilitation ◽

Human Arm ◽

Human Limb ◽

And Control

Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.

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