Control strategies for enhancing manipulability in tensegrity-based redundant robots and manipulators

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/49777513:23520/25:43974734

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Control strategies for enhancing manipulability in tensegrity-based redundant robots and manipulators

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Control strategies for enhancing manipulability in tensegrity-based redundant robots and manipulators

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Nonlinear Dynamics

ISSN

0924-090X

e-ISSN

1573-269X

Svazek periodika

10

Číslo periodika v rámci svazku

113

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

21

Strana od-do

11647-11667

Kód UT WoS článku

001368851700001

EID výsledku v databázi Scopus

2-s2.0-105001069612