Short, J.S.; Poo, J.A.N.; Ang, M.H.; Chow Yin Lai; Pey Yuen Tao, "Hamiltonian exploitation in underactuated robot system inversion," Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on , vol., no., pp.904,909, 8-11 July 2014 doi: 10.1109/AIM.2014.6878195
Abstract:
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.
License type:
PublisherCopyrights
Funding Info:
Science and Engineering Research Council, Agency for Science, Technology and Research (A*STAR) under Grant U12-R-051SU / SIMT/12-410025