TY - JOUR
T1 - Design and Experimental Validation of a 3-DOF Underactuated Pendulum-Like Robot
AU - Scalera, Lorenzo
AU - Gasparetto, Alessandro
AU - Zanotto, Damiano
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2020/2
Y1 - 2020/2
N2 - 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.
AB - 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.
KW - Adaptive frequency oscillators (AFOs)
KW - cable-driven parallel robot
KW - nonlinear control
KW - pendulum-like robot
KW - underactuated robot
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U2 - 10.1109/TMECH.2019.2947915
DO - 10.1109/TMECH.2019.2947915
M3 - Article
AN - SCOPUS:85079828831
SN - 1083-4435
VL - 25
SP - 217
EP - 228
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
M1 - 8873621
ER -