4,805 research outputs found
Dynamic Balance Control of Multi-arm Free-Floating Space Robots
This paper investigates the problem of the dynamic balance control of
multi-arm free-floating space robot during capturing an active object in close
proximity. The position and orientation of space base will be affected during
the operation of space manipulator because of the dynamics coupling between the
manipulator and space base. This dynamics coupling is unique characteristics of
space robot system. Such a disturbance will produce a serious impact between
the manipulator hand and the object. To ensure reliable and precise operation,
we propose to develop a space robot system consisting of two arms, with one arm
(mission arm) for accomplishing the capture mission, and the other one (balance
arm) compensating for the disturbance of the base. We present the coordinated
control concept for balance of the attitude of the base using the balance arm.
The mission arm can move along the given trajectory to approach and capture the
target with no considering the disturbance from the coupling of the base. We
establish a relationship between the motion of two arm that can realize the
zeros reaction to the base. The simulation studies verified the validity and
efficiency of the proposed control method
Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping
Dehio N, Smith J, Wigand DL, et al. Modeling & Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. In: IEEE/RSJ Int. Conf. on Robotics and Automation. 2018
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
This manuscript presents control of a high-DOF fully actuated lower-limb
exoskeleton for paraplegic individuals. The key novelty is the ability for the
user to walk without the use of crutches or other external means of
stabilization. We harness the power of modern optimization techniques and
supervised machine learning to develop a smooth feedback control policy that
provides robust velocity regulation and perturbation rejection. Preliminary
evaluation of the stability and robustness of the proposed approach is
demonstrated through the Gazebo simulation environment. In addition,
preliminary experimental results with (complete) paraplegic individuals are
included for the previous version of the controller.Comment: Submitted to IEEE Control System Magazine. This version addresses
reviewers' concerns about the robustness of the algorithm and the motivation
for using such exoskeleton
Passive Compliance Control of Aerial Manipulators
This paper presents a passive compliance control for aerial manipulators to
achieve stable environmental interactions. The main challenge is the absence of
actuation along body-planar directions of the aerial vehicle which might be
required during the interaction to preserve passivity. The controller proposed
in this paper guarantees passivity of the manipulator through a proper choice
of end-effector coordinates, and that of vehicle fuselage is guaranteed by
exploiting time domain passivity technique. Simulation studies validate the
proposed approach.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS) 201
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