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

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    5 Citas (Scopus)

    Resumen

    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.

    Idioma originalInglés
    Título de la publicación alojada2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
    Páginas855-865
    Número de páginas11
    DOI
    EstadoPublicada - 2008
    Evento31st 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, Estados Unidos
    Duración: 4 sept. 20077 sept. 2007

    Serie de la publicación

    Nombre2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
    Volumen8 PART B

    Conferencia

    Conferencia31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
    País/TerritorioEstados Unidos
    CiudadLas Vegas, NV
    Período4/09/077/09/07

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