Control strategies for enhancing manipulability in tensegrity-based redundant robots and manipulators
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F25%3A00379193" target="_blank" >RIV/68407700:21220/25:00379193 - isvavai.cz</a>
Alternative codes found
RIV/49777513:23520/25:43974734
Result on the web
<a href="https://doi.org/10.1007/s11071-024-10669-w" target="_blank" >https://doi.org/10.1007/s11071-024-10669-w</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s11071-024-10669-w" target="_blank" >10.1007/s11071-024-10669-w</a>
Alternative languages
Result language
angličtina
Original language name
Control strategies for enhancing manipulability in tensegrity-based redundant robots and manipulators
Original language description
This paper explores the potential of movable tensegrities and nonlinear cable-driven structures for designing lightweight robots. These mechanisms exhibit both drive and degrees of freedom redundancy, allowing additional conditions on pure end-effector motion control. The study focuses on using the redundancy in tensegrity mechanisms to maximize manipulability within a workspace. The methodology is demonstrated using a planar two-stage cable-driven tensegrity robot as a benchmark. The study begins with a description of self-stress analysis. Actuation planning is adapted for workspace exploration and position interpolation in trajectory planning. The control strategy for the manipulator involves trajectory planning, motion control, and implementing computed torque control. Actuator redundancy is addressed using singular value decomposition and the least squares method. Controller gains are optimized based on different test trajectories. A key contribution of this study is the development of a manipulability optimization methodology based on nonlinear dynamics. After meeting the end-effector motion requirements, the objective function, created by combining extreme singular values and the condition number of the Jacobian matrix, is optimized. Simulation experiments demonstrate the robustness of the algorithm, showing a significant improvement in the objective function.
Czech name
—
Czech description
—
Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Nonlinear Dynamics
ISSN
0924-090X
e-ISSN
1573-269X
Volume of the periodical
10
Issue of the periodical within the volume
113
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
21
Pages from-to
11647-11667
UT code for WoS article
001368851700001
EID of the result in the Scopus database
2-s2.0-105001069612