Orientation Control Using Oscillating Momentum Wheels

2015 ◽  
Author(s):  
Shaoqian Wang ◽  
Amir H. Ghasemi ◽  
Joshua L. Evans ◽  
T. Michael Seigler
Keyword(s):  
Closed Loop ◽  
Inverse Dynamics ◽  
The Body ◽  
Rotational Dynamics ◽  
Fixed Frequency ◽  
Internal Momentum ◽  
Control Techniques ◽  
Sinusoidal Oscillations ◽  
Fixed Axis ◽  
Inverse Dynamics Problem

This paper addresses the problem of controlling a rigid body’s orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each body-fixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

Static optimal estimation of joint accelerations for inverse dynamics problem solution

2002 ◽  
Vol 35 (11) ◽  
pp. 1507-1513 ◽  
Author(s):  
Violaine Cahouët ◽  
Martin Luc ◽  
Amarantini David
Keyword(s):  
Inverse Dynamics ◽  
Optimal Estimation ◽  
Problem Solution ◽  
Inverse Dynamics Problem

Effects of human stature and muscle strength on the standing strategies: A computational biomechanical study

2020 ◽  
Vol 234 (7) ◽  
pp. 674-685
Author(s):  
Mohammed N Ashtiani ◽  
Mahmood-Reza Azghani ◽  
Mohamad Parnianpour ◽  
Kinda Khalaf
Keyword(s):  
Muscle Strength ◽  
Knee Flexion ◽  
Inverse Dynamics ◽  
Biomechanical Model ◽  
Biomechanical Study ◽  
The Body ◽  
Whole Body ◽  
Tall Stature ◽  
Personal Factors ◽  
Hamstring Muscles

It has been hypothesized that the muscular efforts exerted during standing may be altered by changes in personal factors, such as the body stature and muscular strength. The goal of this work was to assess the contribution of leg muscles using a biomechanical model in different physical conditions and various initial postures. An optimized inverse dynamics model was employed to find the maximum muscular effort in 23,040 postures. The simulation results showed that mid-range knee flexion could help the healthy and strong individuals maintain balance, but those with weaker muscle strength required more knee flexion. Individuals of weak muscular constitution as well as those with tall stature are at the highest risk of imbalance/falling. The number of imbalanced postures due to deficits in the calf and hamstring muscles was reduced by 7.5 times by strengthening the whole body musculature. The calf and the hamstring muscles play a key role in balance regardless of stature.

scholarly journals Optimal Disturbance Observer Design for High Tracking Performance in Motion Control Systems

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1633
Author(s):  
Wonhee Kim ◽  
Sangmin Suh
Keyword(s):  
Disturbance Observer ◽  
Closed Loop ◽  
Inverse Dynamics ◽  
Hard Disk Drives ◽  
Observer Design ◽  
Disk Drives ◽  
Closed Loop Systems ◽  
Baseline Weight ◽  
The Stability ◽  
Target Plant

In this paper, a stability-driven optimal disturbance observer (DO) is proposed. The proposed method does not require any plant inverse dynamics to detect introduced disturbances or a stabilizing Q filter. It does not require additional compensators to resolve causality problems, due to the relative degree, or filters to solve instability problems of non-minimum phase plants. Using this method enables wideband and narrowband disturbances to be attenuated by simply multiplying the corresponding peak filters by the baseline weight function. Furthermore, the proposed DO guarantees the stability of closed-loop systems because the already designed outer-loop systems are considered as a target plant to be stabilized and because of the Lyapunov stability-based H∞ control. In the application example, it was confirmed that the proposed method is effective, and the position error signals were improved by 20.9% in commercial hard disk drives and 36.6% in optical image stabilization systems.

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

2016 ◽  
Author(s):  
Stephen Mascaro
Keyword(s):  
Robot Control ◽  
Inverse Dynamics ◽  
Position Control ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Force Sensor ◽  
Control Techniques ◽  
Serial Robot

This paper describes a modular 2-DOF serial robot manipulator and accompanying experiments that have been developed to introduce students to the fundamentals of robot control. The robot is designed to be safe and simple to use, and to have just enough complexity (in terms of nonlinear dynamics) that it can be used to showcase and compare the performance of a variety of textbook robot control techniques including computed torque feedforward control, inverse dynamics control, robust sliding-mode control, and adaptive control. These various motion control schemes can be easily implemented in joint space or operational space using a MATLAB/Simulink real-time interface. By adding a simple 2-DOF force sensor to the end-effector, the robot can also be used to showcase a variety of force control techniques including impedance control, admittance control, and hybrid force/position control. The 2-DOF robots can also be used in pairs to demonstrate control architectures for multi-arm coordination and master/slave teleoperation. This paper will describe the 2-DOF robot and control hardware/software, illustrate the spectrum of robot control methods that can be implemented, and show sample results from these experiments.

Analyzing the Efficacy of Pain Management and Continuous Infusion Regional Anesthetic Catheters in the Orthopaedic Setting

2014 ◽  
Vol 5 (1) ◽  
Author(s):  
Ulises Pantaleon Rodriguez
Keyword(s):  
Pain Management ◽  
Continuous Infusion ◽  
Sports Medicine ◽  
Nursing Student ◽  
Management Control ◽  
The Body ◽  
University Hospital ◽  
Management Technique ◽  
Control Techniques ◽  
Regional Anesthetic

My name is Ulises Pantaleon Rodriguez and I am a fourth year nursing student currently finishing my integrative practicum and final consolidation on the orthopaedic inpatient surgery floor at University Hospital in London, Ontario. I have had prior placements within this field of nursing and have been drawn towards orthopaedic placements due to my interest in sports medicine and the musculoskeletal system of the body. Through multiple orthopaedic placements I have witnessed first-hand the crippling effects of pain on patients, causing both physical and psychological distress. As a result I have encountered a multitude of different pain management control techniques ranging from pharmacological to non-pharmacological in nature. Through my experience on the orthopaedic inpatient surgery floor, I encountered the use of continuous infusion regional anesthetic catheters, commonly known as nerve block catheters. This innovative pain management technique yielded a plethora of different results for different patients, which sparked my interest into the relevant research and literature on their use. Pain management is one of the most important aspects of nursing care and the health care field as a whole, and it is my belief that healthcare practitioners must remain knowledgeable and educated on the latest techniques.

Sign in / Sign up

Export Citation Format

Share Document