Design and Experimental Validation of a 3-DOF Underactuated Pendulum-Like Robot

Lorenzo Scalera, Alessandro Gasparetto, Damiano Zanotto

Research output: Contribution to journalArticlepeer-review

28 Scopus citations

Abstract

This article presents the design and the experimental validation of a novel 3-degree-of-freedom (DOF) pendulum-like cable-driven robot capable of executing point-to-point motions by leveraging partial feedback linearization control and on-line trajectory planning based on adaptive frequency oscillators (AFOs). Unlike most cable-suspended parallel robots, which rely on at least n actuated cables to control n DOF, the proposed robot is capable of performing 3-DOF point-to-point motions, from a starting pose to a goal one within its dynamic workspace, by means of two actuators only. Feedback linearization allows the dynamics of the variable-length pendulum to be decoupled from the orientation of the end effector, enabling the device to use parametric excitation to control the oscillations of the variable-length pendulum, akin to a playground swing. A pool of AFOs is introduced to enable smooth, lag free on-line estimations of the current phase of the pendulum oscillation to inform the on-line planner and the parametric excitation controller. Experimental results demonstrate feasibility of the proposed design and control approach.

Original languageEnglish
Article number8873621
Pages (from-to)217-228
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Volume25
Issue number1
DOIs
StatePublished - Feb 2020

Keywords

  • Adaptive frequency oscillators (AFOs)
  • cable-driven parallel robot
  • nonlinear control
  • pendulum-like robot
  • underactuated robot

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