NDLI: A generalized underactuated robot system inversion method using Hamiltonian formalism

Content Provider	IEEE Xplore Digital Library
Author	Short, J.S. Aun Neow Poo Chow Yin Lai Pey Yuen Tao Ang, M.H.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Short, J.S.; Aun Neow Poo; Ang, M.H.) \|\| Singapore Inst. of Manuf. Technol., Agency for Sci., Singapore, Singapore (Chow Yin Lai; Pey Yuen Tao)
Abstract	A new generalized method of stable model inversion is presented with the aim of providing solutions for the feedforward control of underactuated robots. The area of application is in SISO and MIMO systems within robotics which contain only scleronomous constraints. This generalized restriction is discussed followed by a justification of its sufficiency. The method uses a boundary value problem framework along with Hamiltonian formalism, representing the dynamic equations of motion, to solve for the stable model inversion of a robotic system. The benefits of the method include energy savings, enhanced safety, and robot simplification. An example of the robot feedforward control solution is presented to conclude the work.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	1415
Ending Page	1420
File Size	1045779
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Polynomials Joints Dynamics Torque Feedforward neural networks Mathematical model
Content Type	Text
Resource Type	Article

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