Journal articles: 'Robot inverse dynamics'

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Huston, Ronald L., and Timothy P. King. "Dynamics of redundant robots – inverse solutions." Robotica 4, no. 4 (1986): 263–67. http://dx.doi.org/10.1017/s0263574700009954.

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SUMMARYThe dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.

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Pierrot, F., C. Reynaud, and A. Fournier. "DELTA: a simple and efficient parallel robot." Robotica 8, no. 2 (1990): 105–9. http://dx.doi.org/10.1017/s0263574700007669.

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SummaryThe DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.

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Saha, Subir Kumar. "Inverse Dynamics Algorithm for Space Robots." Journal of Dynamic Systems, Measurement, and Control 118, no. 3 (1996): 625–29. http://dx.doi.org/10.1115/1.2801191.

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An efficient algorithm for the inverse dynamics of free-flying space robots, consisting of a serial manipulator mounted on a free-base, e.g., a spacecraft, is presented. The kinematic and dynamic models are based on the concepts of the Primary Body (PB) and the Natural Orthogonal Complement, respectively, reported elsewhere. In this paper, besides the efficiency, the usefulness of the PB in deriving different kinematic models and selecting an efficient one is pointed out. Moreover, it is shown that a recursive algorithm for the inverse dynamics of the space robot at hand can be developed even without the consideration of the momenta conservation principle.

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Vukobratovic, Miomir. "Beginnings of robotics as a separate discipline of technical sciences and some fundamental results - a personal view." Robotica 20, no. 2 (2002): 223–35. http://dx.doi.org/10.1017/s0263574701003903.

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Based on the author's knowledge the paper gives a brief account of some of the scientific achievements of robotics that were of crucial importance to its development.In a rough chronological order these are: zero-moment concept and semi-inverse method; recursive formulation of robot dynamics; computer-aided derivation of robot dynamics in symbolic form; dynamic approach to generation of trajectories of robotic manipulators; centralized feedforward control in robotics; robot dynamic control; decentralized control and observer applied to strongly coupled active mechanisms; force feedback in dynamic control of robots; decentralized control stability tests for robotic mechanisms; underactuated robotic systems; practical stability tests in robotics; unified approach to control laws synthesis for robot interacting with dynamic environment; modeling and control of multi-arm cooperating robots interacting with environment; connectionist algorithms for advanced learning control of robots interacting with dynamic environment; fuzzy logic robot control with model-based dynamic compensation, and internal redundancy – a new way to improve robot dynamic performance.

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My, Chu A., and Duong X. Bien. "New development of the dynamic modeling and the inverse dynamic analysis for flexible robot." International Journal of Advanced Robotic Systems 17, no. 4 (2020): 172988142094334. http://dx.doi.org/10.1177/1729881420943341.

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When a segment of a flexible link of a flexible robot is currently sliding through a prismatic joint, it is usually assumed that the elastic deformation of the segment equals to zero. This is a kind of time-dependent boundary condition when formulating the dynamics model of a flexible robot consisting of prismatic joints. Hence, the dynamic modeling and especially the inverse dynamic analysis of the flexible robots with the prismatic joints are challenging. In this article, we present a new development of the dynamic modeling method for a generic two-link flexible robot that consists of a prismatic joint and a revolute joint. Moreover, a new bisection method-based algorithm is proposed to analyze the inverse dynamic responses of the flexible robots. Since the bisection method is a rapid converging method in mathematics, the proposed algorithm is effectively applicable to solving the inverse dynamic problem of a flexible robot in a robust manner. Last, the numerical simulation results show the effectiveness and the robustness of the proposed method.

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Tafrishi, S. A., Y. Bai, M. Svinin, E. Esmaeilzadeh, and M. Yamamoto. "Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot." Nelineinaya Dinamika 15, no. 4 (2019): 611–22. http://dx.doi.org/10.20537/nd190420.

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Kljuno, Elvedin, and Robert L. Williams. "Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control." Journal of Robotics 2010 (2010): 1–19. http://dx.doi.org/10.1155/2010/278597.

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This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. The emphasis of this work is to show that the reference model can be a bipedal walking model with concentrated mass at the center of gravity, which removes the problems related to design of a pseudo-inverse system. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system.

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Madsen, Emil, Simon Aagaard Timm, Norbert Andras Ujfalusi, Oluf Skov Rosenlund, David Brandt, and Xuping Zhang. "Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators." Mathematical Problems in Engineering 2020 (September 17, 2020): 1–13. http://dx.doi.org/10.1155/2020/8709870.

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Many collaborative robots use strain-wave-type transmissions due to their desirable characteristics of high torque capacity and low weight. However, their inherent complex and nonlinear behavior introduces significant errors and uncertainties in the robot dynamics calibration, resulting in decreased performance for motion and force control tasks and lead-through programming applications. This paper presents a new method for calibrating the dynamic model of collaborative robots. The method combines the known inverse dynamics identification model with the weighted least squares (IDIM-WLS) method for rigid robot dynamics with complex nonlinear expressions for the rotor-side dynamics to obtain increased calibration accuracy by reducing the modeling errors. The method relies on two angular position measurements per robot joint, one at each side of the strain-wave transmission, to effectively compensate the rotor inertial torques and nonlinear dynamic friction that were identified in our previous works. The calibrated dynamic model is cross-validated and its accuracy is compared to a model with parameters obtained from a CAD model. Relative improvements are in the range of 16.5% to 28.5% depending on the trajectory.

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Matukaitis, Mindaugas, Renaldas Urniezius, Deividas Masaitis, Lukas Zlatkus, Benas Kemesis, and Gintaras Dervinis. "Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators." Applied Sciences 11, no. 7 (2021): 2946. http://dx.doi.org/10.3390/app11072946.

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This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.

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Wang, D., J. P. Huissoon, and K. Luscott. "A Teaching Robot for Demonstrating Robot Control Strategies." Robotica 11, no. 5 (1993): 393–401. http://dx.doi.org/10.1017/s0263574700016945.

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SUMMARYIt is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is suggested which can be easily designed by students at the undergraduate level.

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LIU, YUBIN, and GANGFENG LIU. "RESEARCH ON RIGID BODY INVERSE DYNAMICS OF A NOVEL 6-PRRS PARALLEL ROBOT." Journal of Mechanics in Medicine and Biology 18, no. 08 (2018): 1840037. http://dx.doi.org/10.1142/s0219519418400377.

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A systematic methodology for solving the inverse dynamics of a 6-PRRS parallel robot is presented. Based on the principle of virtual work and the Lagrange approach, a methodology for deriving the dynamical equations of motion is developed. To resolve the inconsistency between complications of established dynamic model and real-time control, a simplifying strategy of the dynamic model is presented. The dynamic character of the 6-PRRS parallel robot is analyzed by example calculation, and a full and precise dynamic model using simulation software is established. Verification results show the validity of the presented algorithm, and the simplifying strategies are practical and efficient.

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Zeinali, Meysar, and Leila Notash. "FUZZY LOGIC-BASED INVERSE DYNAMIC MODELLING OF ROBOT MANIPULATORS." Transactions of the Canadian Society for Mechanical Engineering 34, no. 1 (2010): 137–50. http://dx.doi.org/10.1139/tcsme-2010-0009.

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This paper presents the design and implementation of a systematic fuzzy modelling methodology for the inverse dynamic modelling of robot manipulators. The fuzzy logic modelling methodology is motivated in part by the difficulties encountered in the modelling of complex nonlinear uncertain systems, and by the objective of developing an efficient dynamic model for the real-time model-based control. The methodology is applied to build the fuzzy logic-based inverse dynamic model of a prototyped wire-actuated parallel manipulator with uncertain dynamics. The developed inverse dynamics has been used in a fuzzy model-based adaptive robust controller for the tracking control of the parallel manipulator.

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Tourassis, Vassilios D., and Charles P. Neuman. "Inverse dynamics applications of discrete robot models." IEEE Transactions on Systems, Man, and Cybernetics SMC-15, no. 6 (1985): 798–803. http://dx.doi.org/10.1109/tsmc.1985.6313465.

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Yang, Jian Xin, Zhen Tao Liu, and Jian Wei Sun. "Dynamic Modeling of Overconstrained Parallel Robot." Applied Mechanics and Materials 373-375 (August 2013): 34–37. http://dx.doi.org/10.4028/www.scientific.net/amm.373-375.34.

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The dynamic modeling method for parallel robot based on the principle of virtual work and equivalent tree structure is proposed by taking off the platform and the chains as well as degenerating parallel robot into a tree structure, the closed-form solutions for the inverse and forward dynamics models of parallel robot are derived. The method is applied on kinematics and dynamics analysis of a representative 3-RRR spherical parallel robot.

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Szuster, Marcin, and Paweł Obal. "The dynamics of a mobile transport robot." Mechanik 91, no. 5-6 (2018): 390–95. http://dx.doi.org/10.17814/mechanik.2018.5-6.51.

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The article presents the construction of a mobile transport robot which is a forklift model, used for laboratory testing of control methods for complex dynamic objects in changing operating conditions. The robot dynamics is calculated using Lagrange equations of the 2nd type with multipliers. The results of solving the inverse dynamics problem were presented using the robot’s trajectory which consists of stages of movement typical for transport tasks performed by forklift.

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Gorobtsov, Alexander, Andrey Andreev, Alexey Markov, Andrey Skorikov, and Pavel Tarasov. "Features of solving the inverse dynamic method equations for the synthesis of stable walking robots controlled motion." SPIIRAS Proceedings 18, no. 1 (2019): 85–122. http://dx.doi.org/10.15622/sp.18.1.85-122.

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The problem of walking robots controlled motion synthesis by the inverse dynamic method is considered. The inverse dynamic method equations are represented by the methods of multibody system dynamics as free bodies motion equations and constraint equations. The variety of constraint equations group are introduced to specify the robot gait, to implement the robot stability conditions and to coordinate specified robot links movement. The key feature of the inverse dynamic method equations in this formulation is the presence of the second derivatives of the system coordinates in the constraint equations expressing the stability conditions that ensure the maintenance of the vertical position by the robot. The determined solution of such equations in general case is impossible due to the uncertainty of the initial conditions for the Lagrange multipliers. An approximate method for solving the inverse dynamic without taking into account the inertial components in the constraint equations that determine the stability of the robot is considered. Constraint equations that determine the coordinate movement of individual robot links and required for unique problem solving based on approximate equations are presented. The implementation of program motion synthesis methods in the control system of the humanoid robot AR-600 is presented. The comparison of theoretical and experimental parameters of controlled motion is performed. It has been established that with the achieved high accuracy of the robot links tracking drives control with an error of several percent, the indicators of the robot's absolute movements, in particular, the angles of roll, yaw and pitch, differ from the programmed by 30-40%. It’s shown that proposed method allows to synthesize robot control in quasistatic mode for different movement types such as moving forward, sideways, walking on stairs, inclinations etc.

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Mahmoodabadi, M. J., and A. Ziaei. "Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization." Journal of Robotics 2019 (January 1, 2019): 1–10. http://dx.doi.org/10.1155/2019/5052185.

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This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.

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Hanafusa, Misaki, and Jun Ishikawa. "Mechanical Impedance Control of Cooperative Robot During Object Manipulation Based on External Force Estimation Using Recurrent Neural Network." Unmanned Systems 08, no. 03 (2020): 239–51. http://dx.doi.org/10.1142/s230138502050017x.

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This paper proposes a compliant motion control for human-cooperative robots to absorb collision force when persons accidentally touch the robots even while the robot is manipulating an object. In the proposed method, an external force estimator, which can distinguish the net external force from the object manipulation force, is realized using an inverse dynamics model acquired by a recurrent neural network (RNN). By implementing a mechanical impedance control to the estimated external force, the robot can quickly and precisely carry the object keeping the mechanical impedance control functioned and can generate a compliant motion to the net external force only when the person touches it during manipulation. Since the proposed method estimates the external force from the generalized force based on the learned inverse dynamics, it is not necessary to install any sensors on the manipulated object to measure the external force. This allows the robot to detect the collision even when the person touches anywhere on the manipulated object. The RNN inverse dynamics model is evaluated by the leave-one-out cross-validation and it was found that it works well for unknown trajectories excluded from the learning process. Although the details were omitted due to the limitation of the page length, similar to the simulations, the RNN inverse dynamics model was evaluated using unknown trajectories in the six degree-of-freedom experiments, and it has been verified that it functions properly even for the unknown trajectories. Finally, the validity of the proposed method has been confirmed by experiments in which a person touches a robot while it is manipulating an object with six degrees of freedom.

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Hendzel, Z., and Ł. Rykała. "Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind." International Journal of Applied Mechanics and Engineering 22, no. 1 (2017): 81–99. http://dx.doi.org/10.1515/ijame-2017-0005.

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Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

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Pierrot, François, Masaru Uchiyama, Pierre Dauchez, and Alain Fournier. "A New Design of a 6-DOF Parallel Robot." Journal of Robotics and Mechatronics 2, no. 4 (1990): 308–15. http://dx.doi.org/10.20965/jrm.1990.p0308.

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This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom parallel robot, we propose a new design called HEXA. Equations for kinematics and dynamics of the HEXA robot are presented and show that it has the same dynamic capabilities as the DELTA robot because, like the DELTA robot, it can be built with light-weight materials and easily modeled. Finally, we discuss optimization of the HEXA robot mechanical structure.

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Luo, Haitao, Jia Fu, Lichuang Jiao, Guangming Liu, Changshuai Yu, and Tingke Wu. "Kinematics and dynamics analysis of a new-type friction stir welding robot and its simulation." Advances in Mechanical Engineering 11, no. 7 (2019): 168781401986651. http://dx.doi.org/10.1177/1687814019866518.

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The mechanical configuration, structural composition, and five typical working conditions of a newly developed friction stir welding robot are introduced. The kinematics model of the friction stir welding robot is established and the forward kinematics equations, inverse kinematics equations, and the Jacobian matrix are solved. In addition, the dynamics model of the friction stir welding robot is also built by using the Lagrange method. The centroid position coordinate and inertia matrix of each part are obtained. Finally, the dynamic equation of friction stir welding robot is determined. According to the kinematics and dynamics model of robots, simulation analysis for friction stir welding robot based on virtual prototyping technology was carried out. The trajectory equation of the weld joint under the condition of melon petal welding is established, the spline trajectory is fitted by many discrete points measured by the contact probe, and the trajectory planning of each joint and the changing laws of motion parameters under the friction stir welding robot melon petal welding condition are obtained. The movement laws and the loading conditions of each joint can be better controlled by designers, and provide solid theoretical support for the static and dynamic characteristics analysis and structural optimization of the friction stir welding robot.

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Mahapatra, Abhijit, Shibendu Shekhar Roy, and Dilip Kumar Pratihar. "Inverse Dynamics and Power Consumption Model of Crab Motion of a Realistic Hexapod Robot." International Journal of Materials, Mechanics and Manufacturing 3, no. 4 (2015): 275–81. http://dx.doi.org/10.7763/ijmmm.2015.v3.210.

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Jia, Qing Xuan, Tong Li, and Gang Chen. "Study on Two-Step Method for Robot Dynamics Parameters Calibration." Advanced Materials Research 605-607 (December 2012): 1557–62. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1557.

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In order to obtain accurate dynamics parameters, a two-step method for robot dynamics parameters calibration is presented. In the first step a multidimensional matrix is constituted through transforming the configurations of robot manipulators and the product of quality and centroid coordinate about links is solved by using the least square method. In the second step decoupling dynamic equation of robot is deduced based on Newton-Euler algorithm, and through planning specific joint movement, the inertia tensor and centroid coordinate of robot links are calibrated making use of the pseudo inverse method. By the above two steps, the entire calibration of robot dynamic parameters is achieved. The correctness and feasibility of the presented calibration method is manifested by simulations and experiments.

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Staicu, Stefan. "Recursive modelling in dynamics of Delta parallel robot." Robotica 27, no. 2 (2009): 199–207. http://dx.doi.org/10.1017/s0263574708004451.

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SUMMARYRecursive matrix relations in kinematics and dynamics of a Delta parallel robot having three revolute actuators are established in this paper. The prototype of the manipulator is a three degrees-of-freedom space mechanism, which consists of a system of parallel closed kinematical chains connecting to the moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robot's element. Further, the inverse dynamic problem is solved using an approach based on the fundamental principle of virtual work. Finally, a comparative study on time-history evolution of the torques of the three actuators is analysed.

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Lee, C. S. George, and Po Rong Chang. "Efficient Parallel Algorithm for Robot Inverse Dynamics Computation." IEEE Transactions on Systems, Man, and Cybernetics 16, no. 4 (1986): 532–42. http://dx.doi.org/10.1109/tsmc.1986.289256.

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Fang, Gu, and M. W. M. G. Dissanayake. "A neural network-based method for time-optimal trajectory planning." Robotica 16, no. 2 (1998): 143–58. http://dx.doi.org/10.1017/s0263574798000484.

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Planning appropriate trajectories can significantly increase the productivity of robot systems. To plan realistic time-optimal trajectories, the robot dynamics have to be described precisely. In this paper, a neural network based algorithm for tim e-optimal trajectory planning is introduced. This method utilises neural networks for representing the inverse dynamics of the robot. As the proposed neural networks can be trained with data obtained from exciting the robot with given torque inputs, they will capture the complete dynamics of the robot system. Threfore, the trajectories generated will be mo re realistic than those obtained by using nominal dynamic equations based on nominal parameters. Time-optimal trajectories are generated for a PUMA robot to demonstrate the proposed method.

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Kim, Seungdo, Hyung Kyi Yi, C. L. Roh, and M. J. Chung. "Parallelized Inverse Dynamics Algorithm for Dynamic Control of a Robot Manipulator." IFAC Proceedings Volumes 25, no. 20 (1992): 49–53. http://dx.doi.org/10.1016/s1474-6670(17)49837-5.

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De La Cruz, Celso, and Ricardo Carelli. "Dynamic model based formation control and obstacle avoidance of multi-robot systems." Robotica 26, no. 3 (2008): 345–56. http://dx.doi.org/10.1017/s0263574707004092.

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SUMMARYThis work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design.

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Miller, Karol, and Boris S. Stevens. "Modeling of Dynamics and Model-Based Control of DELTA Direct-Drive Parallel Robot." Journal of Robotics and Mechatronics 7, no. 4 (1995): 344–52. http://dx.doi.org/10.20965/jrm.1995.p0344.

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The term ""Extended Space"" used in this article is hereby defined as a union of the operational and articulation spaces of a manipulator. The advantages in the use of such coordinates (extended space) in the description of DELTA robot is presented here and discussed in some detail. The emerging importance of parallel robots has necessitated an increased sophistication to achieve improved control. A method based on the direct application of the Hamilton's Principle in extended space, has been applied efficiently to solving the inverse problem of dynamics and implemented for real time application in the control law of the direct-drive version of DELTA parallel robot.1-3) The full dynamic model of this robot has been developed herein. The numerical efficiency and other benefits of this approach over the more classical Lagrange and Newton-Euler methods for the inverse dynamics problem solving are also briefly discussed. For similar models, the version obtained by the direct application of Hamilton's principle is found to possess 23% less mathematical operations than for the Lagrangebased model. Frictional effects. being very small in the direct-drive manipulator, are not included in the present Hamilton development but can be handled with a slight modification. Furthermore the acceleration information of the robot are not required as input states to the Hamilton model. The measurement of trajectory tracking performances for different controllers is conducted. The repeatability of the robot trajectory tracking is determined. The improvement obtained in the control algorithm's performance after the Hamilton implementation is proven to be conclusive.

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Cha, Y. Y., and D. G. Gweon. "Real-Time Control Using Explicit Dynamic Solutions of a Two-Motion-Modes Mobile Robot." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 208, no. 3 (1994): 157–67. http://dx.doi.org/10.1243/pime_proc_1994_208_324_02.

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In this study a two-motion-modes mobile robot is developed. The motion of the mobile robot is controlled by three d.c. servo-motors, two of which drive two wheels independently and one of which steers the wheels simultaneously. The two motion modes of the mobile robot, different velocity motion (DVM) and equal velocity motion (EVM), are analysed. Kinematic and dynamic analyses of the two motion modes are performed. For the implementation of real-time control considering mobile robot dynamics, the forward and inverse dynamic solutions are derived explicitly. Through a simulation, the path-tracking and control performance of the mobile robot considering dynamics is compared with the considering kinetics only, and the possibility of real-time dynamic control is proved.

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Clever, Debora, Yue Hu, and Katja Mombaur. "Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings." International Journal of Robotics Research 37, no. 10 (2018): 1184–204. http://dx.doi.org/10.1177/0278364918765620.

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In this paper, we present an inverse optimal control-based transfer of motions from human experiments to humanoid robots and apply it to walking in constrained environments. To this end, we introduce a 3D template model, which describes motion on the basis of center-of-mass trajectory, foot trajectories, upper-body orientation, and phase duration. Despite its abstract architecture, with prismatic joints combined with damped series elastic actuators instead of knees, the model (including dynamics and constraints) is suitable for describing both human and humanoid locomotion with appropriate parameters. We present and apply an inverse optimal control approach to identify optimality criteria based on human motion capture experiments. The identified optimal strategy is then transferred to a humanoid robot template model for gait generation by solving an optimal control problem, which takes into account the properties of the robot and differences in the environment. The results of this step are the center-of-mass trajectory, the foot trajectories, the torso orientation, and the single and double support phase durations for a sequence of steps, allowing the humanoid robot to walk within a new environment. In a previous paper, we have already presented one computational cycle (from motion capture data to an optimized robot template motion) for the example of walking over irregular stepping stones with the aim of transferring the motion to two very different humanoid robots (iCub@Heidelberg and HRP-2@LAAS). This study represents an extension, containing an entirely new part on the transfer of the optimized template motion to the iCub robot by means of inverse kinematics in a dynamic simulation environment and also on the real robot.

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Yu, Jun, Shuaishuai Zhang, Aihui Wang, Wei Li, and Lulu Song. "Musculoskeletal modeling and humanoid control of robots based on human gait data." PeerJ Computer Science 7 (August 9, 2021): e657. http://dx.doi.org/10.7717/peerj-cs.657.

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The emergence of exoskeleton rehabilitation training has brought good news to patients with limb dysfunction. Rehabilitation robots are used to assist patients with limb rehabilitation training and play an essential role in promoting the patient’s sports function with limb disease restoring to daily life. In order to improve the rehabilitation treatment, various studies based on human dynamics and motion mechanisms are still being conducted to create more effective rehabilitation training. In this paper, considering the human biological musculoskeletal dynamics model, a humanoid control of robots based on human gait data collected from normal human gait movements with OpenSim is investigated. First, the establishment of the musculoskeletal model in OpenSim, inverse kinematics, and inverse dynamics are introduced. Second, accurate human-like motion analysis on the three-dimensional motion data obtained in these processes is discussed. Finally, a classic PD control method combined with the characteristics of the human motion mechanism is proposed. The method takes the angle values calculated by the inverse kinematics of the musculoskeletal model as a benchmark, then uses MATLAB to verify the simulation of the lower extremity exoskeleton robot. The simulation results show that the flexibility and followability of the method improves the safety and effectiveness of the lower limb rehabilitation exoskeleton robot for rehabilitation training. The value of this paper is also to provide theoretical and data support for the anthropomorphic control of the rehabilitation exoskeleton robot in the future.

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Fang, Xi Feng, Sheng Wen Zhang, H. T. Wu, and Y. P. Lu. "Study on the Dynamics Control of Industrial Robot Modeling Based on Spatial Operator Algebra Theory." Key Engineering Materials 392-394 (October 2008): 975–79. http://dx.doi.org/10.4028/www.scientific.net/kem.392-394.975.

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In order to improve the modeling efficiency of the industrial robot dynamics control, the recursive dynamics is studied based on the Spatial Operator Algebra (SOA) theory, and the procedure realization is built in the environment of Matahematica6.0 software. The high effective recursive forward and reward dynamics for the SOA theory, has a simple math expression and a clear physical meaning. The software structure of the forward and inverse dynamics is built and the industrial robot dynamics simulation model is realized based on the integrated procedure VB.NET and Mathematica 6.0. According to the analysis, the example of PUMA560 robot forward and inverse dynamics is studied, and correctness and validity is verified by computed examples.

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Enferadi, J., and A. Shahi. "A Closed-Form Dynamics of a Novel Fully Wrist Driven by Revolute Motors." Journal of Mechanics 32, no. 4 (2016): 479–90. http://dx.doi.org/10.1017/jmech.2016.36.

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AbstractThis paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a novel spherical robot that is called a 3(RPSP)-S parallel manipulator. The proposed manipulator provides high rotational displacement of the moving platform for low angular displacement of the motors. The advised robot is suitable for repetitive oscillatory applications (for example, wrist and ankle rehabilitation and table of autopilot and gyroscope life test, etc.). First, we describe the structure of the proposed manipulator and solve the inverse kinematics problem of the manipulator. Next, based on the principle of virtual work, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated and verified by a special dynamics modeling commercial software (MSC ADAMS).

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Pham, D. T., and S. J. Oh. "Adaptive control of a robot using neural networks." Robotica 12, no. 6 (1994): 553–61. http://dx.doi.org/10.1017/s0263574700016891.

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SummaryThis paper describes an adaptive control system for an articulated robot with n joints carrying a variable load. The robot is a complex nonlinear time-varying MIMO plant with dynamic interaction between its inputs and outputs. However, the design of the control system is relatively straightforward and does not require any prior knowledge about the plant. This is because the control system is based on using neural networks which can capture the dynamic characteristics of the plant automatically. Three neural networks are employed in total, the first to learn the dynamics of the robot, the second to model its inverse dynamics and the third, a copy of the second neural network, to control the robot.

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Mazare, Mahmood, Mostafa Taghizadeh, and M. Rasool Najafi. "Inverse Dynamics of a 3-P[2(US)] Translational Parallel Robot." Robotica 37, no. 4 (2018): 708–28. http://dx.doi.org/10.1017/s0263574718001273.

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SummaryIn this paper, a type of parallel robot with three translational degrees of freedom is studied. Inverse and forward kinematic equations are extracted for position and velocity analyses. The dynamic model is derived by Lagrange’s approach and the principle of virtual work and related computational algorithms implementing inverse and forward dynamics are presented. Furthermore, some numerical simulations are performed using the kinematic and dynamic models in which the results show good agreement with expected qualitative behavior of the mechanism. Comparisons with the results of work-energy and impulse-momentum methods quantitatively verify the validity of the derived equations of motion. Also, a relative computational effectiveness is observed in implementation of virtual work model via the simulations.

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Brahmi, Brahim, Maarouf Saad, Abdelkrim Brahmi, Cristobal Ochoa Luna, and Mohammad Habibur Rahman. "Compliant control for wearable exoskeleton robot based on human inverse kinematics." International Journal of Advanced Robotic Systems 15, no. 6 (2018): 172988141881213. http://dx.doi.org/10.1177/1729881418812133.

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Rehabilitation robots are a new technology dedicated to the physiotherapy and assistance motion and has aroused great interest in the scientific community. These kinds of robots have shown a high potential in limiting the patient’s disability, increasing its functional movements and helping him/her in daily living activities. This technology is still an emerging area and suffers from many challenges like compliance control and human–robot collaboration. The main challenge addressed in this research is to ensure that the exoskeleton robot provides an appropriate compliance control that allows it to interact perfectly with humans. This article investigates a new compliant control based on a second-order sliding mode with adaptive-gain incorporating time delay estimation. The control uses human inverse kinematics to complete active rehabilitation protocols for an exoskeleton robot with unknown dynamics and unforeseen disturbances. The stability analysis is formulated and demonstrated based on Lyapunov function. An experimental physiotherapy session with three healthy subjects was set up to test the effectiveness of the proposed control, using virtual reality environment.

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Kirćanski, N., T. Petović, and M. Vukobratović. "Parallel computation of symbolic robot models of pipelined processor architectures." Robotica 11, no. 1 (1993): 37–47. http://dx.doi.org/10.1017/s0263574700015423.

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SUMMARYIncreased speed of inverse dynamics computation is essential for improving the characteristics of robot control systems. This is achieved by reducing the numerical complexity of the models and by introducing parallelism in model computation. In this paper customized symbolic models with a near minimum numerical complexity will be used as a basis for the examination of parallelism in inverse dynamic robot models. A scheduling algorithm for the distribution of computational load onto an arbitrary linear array of pipelined processors will be developed. The proposed algorithm is experimentally evaluated on a transputer network.

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Izadbakhsh, Alireza, and Saeed Khorashadizadeh. "Robust task-space control of robot manipulators using differential equations for uncertainty estimation." Robotica 35, no. 9 (2016): 1923–38. http://dx.doi.org/10.1017/s0263574716000588.

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SUMMARYMost control algorithms for rigid-link electrically driven robots are given in joint coordinates. However, since the task to be accomplished is expressed in Cartesian coordinates, inverse kinematics has to be computed in order to implement the control law. Alternatively, one can develop the necessary theory directly in workspace coordinates. This has the disadvantage of a more complex robot model. In this paper, a robust control scheme is given to achieve exact Cartesian tracking without the knowledge of the manipulator kinematics and dynamics, actuator dynamics and nor computing inverse kinematics. The control design procedure is based on a new form of universal approximation theory and using Stone–Weierstrass theorem, to mitigate structured and unstructured uncertainties associated with external disturbances and actuated manipulator dynamics. It has been assumed that the lumped uncertainty can be modeled by linear differential equations. As the method is Model-Free, a broad range of manipulators can be controlled. Numerical case studies are developed for an industrial robot manipulator.

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Warrier, Rahul B., and Santosh Devasia. "How to Train Your Robot?" Mechanical Engineering 139, no. 06 (2017): S19—S23. http://dx.doi.org/10.1115/1.2017-jun-7.

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This article explores the concept of inferring intent during human-in-the-loop robot learning for output tracking. The human-response dynamics can affect the precision achieved by the human during human-in-the-loop operation. Preview-based online inversion is a viable technique that allows for stable online inversion of complex linear controlled systems, even those for which stable causal inverses do not exist, such as non-minimum phase systems. The averaged motion can still be affected by the human-response dynamics and can therefore be still different from the user’s intent. Therefore, inferring the human intent is important and necessary in the context of human-robot shared control. The results of applying the inversion-based iterative learning scheme to the human-in-the-loop trajectory tracking task has also been presented in the article. Figures show that the output tracking performance improves with respect to the manual tracking performance when inverse control is applied. When the iterative learning control law is applied, further tracking improvement is achieved. Thus, the learned control input can successfully emulate the human intent. An advantage of the robot-learning framework is that it allows novice human operators, who may be experts in the task, but not in teaching a robot, to successfully achieve the task objectives, which can expand the usage and acceptability of robots in society.

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ASADA, HARUHIKO. "Trajectory control and inverse dynamics of flexible robot arms." Journal of the Robotics Society of Japan 6, no. 5 (1988): 448–54. http://dx.doi.org/10.7210/jrsj.6.5_448.

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Staicu, Stefan. "Inverse dynamics of the 3-PRR planar parallel robot." Robotics and Autonomous Systems 57, no. 5 (2009): 556–63. http://dx.doi.org/10.1016/j.robot.2008.09.005.

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Masuda, Takahiro, and Shiro Hagihara. "Numerical solution of robot arm inverse kinematics and dynamics." Advanced Robotics 1, no. 1 (1986): 21–31. http://dx.doi.org/10.1163/156855386x00292.

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Green, A., and J. Z. Sasiadek. "INVERSE DYNAMICS AND FUZZY REPETITIVE LEARNING FLEXIBLE ROBOT CONTROL." IFAC Proceedings Volumes 35, no. 1 (2002): 139–44. http://dx.doi.org/10.3182/20020721-6-es-1901.00835.

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Li, Chang-Jin, and T. S. Sankar. "Fast inverse dynamics computation in real-time robot control." Mechanism and Machine Theory 27, no. 6 (1992): 741–50. http://dx.doi.org/10.1016/0094-114x(92)90071-o.

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Kozłowski, Krzysztof. "Computational requirements for a discrete Kalman filter in robot dynamics algorithms." Robotica 11, no. 1 (1993): 27–36. http://dx.doi.org/10.1017/s0263574700015411.

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SUMMARYIn standard classical kinematic and dynamic considerations the equations of motion for an n-link manipulator can be obtained as recursive Newton-Euler equations. Another approach to finding the inverse dynamics equations is to formulate the system dynamics and kinematics as a two-point boundary-value problem. The equivalence between these two approaches has been proved in this paper. Solution to the two-point boundary-value problem leads to the forward dynamics equations which are similar to the equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing. The extensive numerical studies conducted by the author on the new inverse and forward dynamics algorithms derived from the two-point boundary-value problem establish the same level of confidence as exists for current methods. In order to obtain the algorithms with the smallest coefficients of the polynomial of order O(n), the categorization procedure has been implemented in this work.

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Asada, H., Z. D. Ma, and H. Tokumaru. "Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control." Journal of Dynamic Systems, Measurement, and Control 112, no. 2 (1990): 177–85. http://dx.doi.org/10.1115/1.2896124.

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The inverse dynamics of robot manipulators based on flexible arm models are considered. Actuator torques required for a flexible arm to track a given trajectory are formulated and computed by using special moving coordinate systems, called virtual rigid link coordinates. Dynamic deformations of the flexible arm can be represented in a simple and compact form with use of the virtual coordinate systems. This eliminates a number of terms involved in the equations of motion and significantly reduces complexity in the inverse dynamics computation. An efficient algorithm for computing the actuator torques is then presented on the basis of the simplified formulation, and applied to a two-link arm problem.

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Hwang, Yunn Lin, Thi Na Ta, and Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.

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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.

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Li, Mantian, Jing Deng, Fusheng Zha, Shiyin Qiu, Xin Wang, and Fei Chen. "Towards Online Estimation of Human Joint Muscular Torque with a Lower Limb Exoskeleton Robot." Applied Sciences 8, no. 9 (2018): 1610. http://dx.doi.org/10.3390/app8091610.

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Exoskeleton robots demonstrate promise in their application in assisting or enhancing human physical capacity. Joint muscular torques (JMT) reflect human effort, which can be applied on an exoskeleton robot to realize an active power-assist function. The estimation of human JMT with a wearable exoskeleton is challenging. This paper proposed a novel human lower limb JMT estimation method based on the inverse dynamics of the human body. The method has two main parts: the inverse dynamic approach (IDA) and the sensing system. We solve the inverse dynamics of each human leg separately to shorten the serial chain and reduce computational complexity, and divide the JMT into the mass-induced one and the foot-contact-force (FCF)-induced one to avoid switching the dynamic equation due to different contact states of the feet. An exoskeleton embedded sensing system is designed to obtain the user’s motion data and FCF required by the IDA by mapping motion information from the exoskeleton to the human body. Compared with the popular electromyography (EMG) and wearable sensor based solutions, electrodes, sensors, and complex wiring on the human body are eliminated to improve wearing convenience. A comparison experiment shows that this method produces close output to a motion analysis system with different subjects in different motion.

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Jung, Seul, and T. C. Hsia. "Neural network inverse control techniques for PD controlled robot manipulator." Robotica 18, no. 3 (2000): 305–14. http://dx.doi.org/10.1017/s0263574799002064.

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In this paper neural network (NN) control techniques for non-model based PD controlled robot manipulators are proposed. The main difference between the proposed technique and the existing feedback error learning (FEL) technique is that compensation of robot dynamics uncertainties is done outside the control loop by modifying the desired input trajectory. By using different NN training signals, two NN control schemes are developed. One is comparable to that in the FEL technique and another has to deal with the Jacobian of the PD controlled robot dynamic system. Performances of both controllers for various trajectories with different PD controller gains are examined and compared with that of the FEL controller. It is shown that the new control technique performed better and robust to PD controller gain variations.

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Journal articles on the topic 'Robot inverse dynamics'

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