@inproceedings{bae530d4cfde427b9242135b49bb9f20,
title = "Kinematics, dynamics and control of a planar 3-DOF tensegrity robot manipulator",
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.",
keywords = "Nonlinear systems, Robot control, Robot dynamics, Robot kinematics, Tensegrity",
author = "Vasquez, {Rafael E.} and Correa, {Julio C.}",
year = "2008",
doi = "10.1115/DETC2007-34975",
language = "Ingl{\'e}s",
isbn = "0791848027",
series = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",
pages = "855--865",
booktitle = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",
note = "31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 ; Conference date: 04-09-2007 Through 07-09-2007",
}