NDLI: Control of nonholonomic robotic load

Content Provider	IEEE Xplore Digital Library
Author	Cafuta, P. Curk, B.
Copyright Year	2008
Description	Author affiliation: FERI, Univ. of Maribor, Maribor (Cafuta, P.; Curk, B.)
Abstract	$Powerball^{reg}$ is a commercial name for gyroscopic device that is marketed as a wrist exerciser. The device has rotor with two unactuated degrees of freedom and can be actuated with suitable rotational motion of human or robot wrist axis [1]. After substantial initial rotor's spin, the properly applied torque and motion about two wrist axis lead to spin-up of the rotor. Finding this torque intuitively is easy job for most peoples, but not so easy for technical consideration for example in robotics. In the paper, a modeling of different modes of the device is presented first. A dynamic model with nonholonomic rolling connection which appear in normal operational mode is discussed. With the rotor and housing connection the additional friction effect is observed. When the nutation reaction torque is to low, only dissipation of energy is observed and rotor stops. But when the reaction torque causes normal forces on a connection in a degree that the friction is high enough, the rotor shaft begins to roll. The connection with the housing takes place in a gap so two connecting pairs are possible. One is up-down for left precession and another is down-up for opposite precession rotation. Developed models are used as a basis for control structure in the second part when the experiments are performed with the robot. The control strategy is oriented towards underactuated system, active and passive robots degrees of freedom.
Starting Page	631
Ending Page	636
File Size	784834
Page Count	6
File Format	PDF
ISBN	9781424417025
DOI	10.1109/AMC.2008.4516140
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-03-26
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Wrist Torque Friction Shafts Gyroscopes Manipulator dynamics Humans Joining processes Power system modeling
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Attitude control of torque unit manipulator-treatment as a nonholonomic system

Motion control of robotic manipulators with disturbance decoupling

Golf-swing robot emulating a human motion

Dynamic modelling and friction compensated control of a robot manipulator joint

Manipulability analysis for Gimbal driven robotic arms

Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation

Dynamic modeling of multibody robotic mechanisms: incorporating closed-chains, friction, higher-pair joints, and unactuated and unsensed joints

Modeling and control of nonholonomic mechanical systems.

Friction-based slippage and tangential force detection in robotic grasping

Control of nonholonomic robotic load

Similar Documents

Attitude control of torque unit manipulator-treatment as a nonholonomic system

Motion control of robotic manipulators with disturbance decoupling

Golf-swing robot emulating a human motion

Dynamic modelling and friction compensated control of a robot manipulator joint

Manipulability analysis for Gimbal driven robotic arms

Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation

Dynamic modeling of multibody robotic mechanisms: incorporating closed-chains, friction, higher-pair joints, and unactuated and unsensed joints

Modeling and control of nonholonomic mechanical systems.

Friction-based slippage and tangential force detection in robotic grasping

Control of nonholonomic robotic load