Inverse Dynamics Control of Two 5 DOF Cooperating Robot Manipulators

2005 ◽  
Author(s):  
Mohammad Azadi ◽  
Mohammad Eghtesad ◽  
Bahman Gharesifard
Keyword(s):  
Inverse Dynamics ◽  
Robot Manipulators ◽  
Inverse Dynamics Control

Fixed-Time Inverse Dynamics Control for Robot Manipulators

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Yuxin Su ◽  
Chunhong Zheng
Keyword(s):  
Inverse Dynamics ◽  
Robot Manipulators ◽  
A Priori ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Convergence Time ◽  
Tracking Errors ◽  
Inverse Dynamics Control ◽  
Improved Performance ◽  
Uniformly Bounded

This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and geometric bi-limit homogeneity technique are employed to prove global fixed-time tracking stability. It is proved that there exists a convergence time that is uniformly bounded a priori and such a bound is independent of the initial states such that the tracking errors converge to zero globally. The appealing advantages of the proposed control are that it is fairly easy to construct and has the global fixed-time tracking stability featuring faster transient and higher steady-state precision. Numerical simulation comparisons are provided to demonstrate the improved performance of the proposed approach.

Distributed Parallel Algorithms for the Inverse Dynamics Control of Robot Manipulators

1995 ◽  
Vol 28 (5) ◽  
pp. 55-62
Author(s):  
L. Peñalver ◽  
J.C. Fernández ◽  
V. Hernández ◽  
J. Tornero
Keyword(s):  
Parallel Algorithms ◽  
Inverse Dynamics ◽  
Robot Manipulators ◽  
Inverse Dynamics Control

scholarly journals Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

2020 ◽  
Vol 11 (1) ◽  
pp. 353
Author(s):  
Thomas Flayols ◽  
Andrea Del Prete ◽  
Majid Khadiv ◽  
Nicolas Mansard ◽  
Ludovic Righetti
Keyword(s):  
Inverse Dynamics ◽  
State Of The Art ◽  
Balance Control ◽  
Contact Stiffness ◽  
Poor Performance ◽  
Admittance Control ◽  
Inverse Dynamics Control ◽  
Rigid Contact ◽  
Reactive Balance ◽  
Shed Light

Contacts between robots and environment are often assumed to be rigid for control purposes. This assumption can lead to poor performance when contacts are soft and/or underdamped. However, the problem of balancing on soft contacts has not received much attention in the literature. This paper presents two novel approaches to control a legged robot balancing on visco-elastic contacts, and compares them to other two state-of-the-art methods. Our simulation results show that performance heavily depends on the contact stiffness and the noises/uncertainties introduced in the simulation. Briefly, the two novel controllers performed best for soft/medium contacts, whereas “inverse-dynamics control under rigid-contact assumptions” was the best one for stiff contacts. Admittance control was instead the most robust, but suffered in terms of performance. These results shed light on this challenging problem, while pointing out interesting directions for future investigation.

On the Inherent Characteristics of the Dynamics of Robot Manipulators

1991 ◽  
Author(s):  
Q. Tu ◽  
J. Rastegar
Keyword(s):  
Path Length ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Robot Manipulators ◽  
Control Point ◽  
Coordinate Space ◽  
Relative Significance ◽  
Harmonic Content ◽  
Trajectory Pattern ◽  
Dynamics Models

Abstract The inherent characteristics of the (nonlinear) dynamics of robot manipulators are studied. The study is based on a new method, referred to as the trajectory pattern method. The inverse dynamics models of the manipulator are divided into classes of inverse dynamics models, each corresponding to a different trajectory pattern. For each trajectory pattern, the structure of the resulting inverse dynamics model is fixed and is used to study the characteristics of the dynamics of the manipulator by examining the harmonic content of the required actuation torques (forces) and the relative significance of each harmonic. The harmonic content of the actuating torques is shown to be a function of the path length in the joint coordinate space and the harmonic content of the selected trajectory pattern, but is independent of the number of degrees-of-freedom of the manipulator. The relative contribution of each harmonic is a function of the path length, direction of motion, the position of the path of motion within the workspace of the manipulator, and the magnitude of the fundamental frequency. The study provides a systematic approach to path and trajectory planning from the vibration control point of view. As an example, the characteristics of the dynamics of a spatial 3R manipulator is studied for motions with two different path lengths, starting from a specified point and extending in different directions.

Discrete-Time Inverse Dynamics Control of Flexible Joint Robots

1992 ◽  
Vol 114 (2) ◽  
pp. 229-233 ◽  
Author(s):  
K. P. Jankowski ◽  
H. Van Brussel
Keyword(s):  
Discrete Time ◽  
Control Algorithm ◽  
Inverse Dynamics ◽  
Differential Algebraic Equations ◽  
Control Methods ◽  
Algebraic Equations ◽  
Computationally Efficient ◽  
Electromechanical Actuators ◽  
Flexible Joint Robots ◽  
Inverse Dynamics Control

This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm.

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

2017 ◽  
Vol 10 (1) ◽  
pp. 37-49 ◽  
Author(s):  
Josep Virgili-Llop ◽  
Costantinos Zagaris ◽  
Hyeongjun Park ◽  
Richard Zappulla ◽  
Marcello Romano
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Experimental Evaluation ◽  
Inverse Dynamics ◽  
Inverse Dynamics Control
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