Optimal swing motion control for single-rod brachiation robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F23%3A00370908" target="_blank" >RIV/68407700:21220/23:00370908 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/23:00370908
Result on the web
<a href="https://doi.org/10.1016/j.ifacol.2023.10.795" target="_blank" >https://doi.org/10.1016/j.ifacol.2023.10.795</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2023.10.795" target="_blank" >10.1016/j.ifacol.2023.10.795</a>

Result language
angličtina
Original language name
Optimal swing motion control for single-rod brachiation robot
Original language description
This paper focuses on the optimal swing and rotation control of a single-rod brachiation robot by repositioning its center of gravity. First, a time-optimal control is proposed and analyzed. It utilizes impulses of force at the robot's zero-angle and the turning-angle positions to reposition the center of gravity. Then, a practical implementation that addresses force limits is proposed, in the form of a PD controller paired with input-output linearization which uses the optimal solution as a setpoint. Both control policies are validated through simulations as a preliminary step to laboratory validation on an assembled single-rod robot. Enhanced attention is paid to energy evolution during the swing and rotation of the robot, in particular to the energy pumping achieved by repositioning the center of gravity.
Czech name
—
Czech description
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Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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