Trajectory planning and control of manipulators based on tensegrity structures with manipulability and modal properties optimization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F24%3A00379192" target="_blank" >RIV/68407700:21220/24:00379192 - isvavai.cz</a>
Result on the web
<a href="https://compmech.kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf" target="_blank" >https://compmech.kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Trajectory planning and control of manipulators based on tensegrity structures with manipulability and modal properties optimization
Original language description
This paper deals with the description of a methodology for trajectory planning and control of cable-driven robots with redundant actuators based on tensegrity structures. The solution of the trajectory planning problem is based on the analysis of the workspace by the dynamic relaxation method. Based on this analysis, an interpolation is performed for the desired end-effector trajectory, which is then extended by the optimization of the structure shape with respect to key properties of classic serial robots such as dexterity, singular number values and natural frequencies. The control itself is then implemented using the Computed Torque method. The developed methodology is presented on a planar manipulator with tensegrity features.
Czech name
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Czech description
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Project
<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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