Hamiltonian exploitation in underactuated robot system inversion

A new stable model inversion method extension is presented with the aim of providing solutions to the feedforward control of underactuated robots performing cyclic tasks. The method uses a boundary value problem framework along with a Hamiltonian formalism, representing the dynamic equations of moti...

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Bibliographic Details
Main Authors: Short, Joel Stephen, Poo, Jim A. N., Ang, Marcelo H, Lai, Chow Yin, Tao, Pey Yuen
Format: Conference Proceeding
Language:English
Subjects:
Dynamics
Mathematical model
Polynomials
Robot kinematics
Torque
Online Access:Request full text
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Description
Summary:A new stable model inversion method extension is presented with the aim of providing solutions to the feedforward control of underactuated robots performing cyclic tasks. The method uses a boundary value problem framework along with a Hamiltonian formalism, representing the dynamic equations of motion, to find solutions for the control of movement between non-equilibrium points in taskspace. The benefits of the method are demonstrated with a simulated robot system.
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2014.6878195