Kinematics, dynamics and control of a planar 3-DOF tensegrity robot manipulator

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    9 Scopus citations

    Abstract

    In this paper the kinematic and the dynamic analysis, and a nonlinear control strategy for a planar three-degree-of-freedom tensegrity robot manipulator are addressed. A geometric method is used to obtain the set of equations that describe the position analysis. Initially, solutions to the problems concerning forward and reverse kinematic analysis are presented; then, the forward velocity coefficients matrix is obtained analytically. The Lagrangian approach is used to deduce the dynamic equation of motion and its main properties are described using the nonlinear control system theory. Finally, a feedback-linearization-based nonlinear control scheme is applied to the mechanism to follow a prescribed path in the Cartesian coordinate system. The obtained results show that lightweight mechanisms which incorporate tensegrity systems could be used in a positioning problem.

    Original languageEnglish
    Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
    Pages855-865
    Number of pages11
    DOIs
    StatePublished - 2008
    Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
    Duration: 4 Sep 20077 Sep 2007

    Publication series

    Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
    Volume8 PART B

    Conference

    Conference31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
    Country/TerritoryUnited States
    CityLas Vegas, NV
    Period4/09/077/09/07

    Keywords

    • Nonlinear systems
    • Robot control
    • Robot dynamics
    • Robot kinematics
    • Tensegrity

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