NDLI: Lessons learned in nonlinear systems and flexible robots through experiments on a 6 legged platform

Content Provider	IEEE Xplore Digital Library
Author	O'Brien, J.F. McInroy, J.E. Bodtke, D. Bruch, M. Hamann, J.C.
Copyright Year	1998
Description	Author affiliation: Dept. of Electr. Eng., Wyoming Univ., Laramie, WY, USA (O'Brien, J.F.)
Abstract	Both NASA's Jet Propulsion Laboratory and the University of Wyoming have constructed 6 legged platforms, or hexapods. The hexapods are intended to provide precise motion and six degree-of-freedom vibration isolation. Two experiments performed on these hexapods provide lessons in nonlinear systems and flexible robots. In the area of nonlinear systems, it has been learned that multiple hard saturations can induce limit cycles, undesirably turning an active vibration isolator into a vibration generator. Thus, new analysis tools for multiple hard nonlinearities in multidimensional systems are needed to explain and avoid these limit cycles. In the area of flexible robots, it has been learned that model-based decoupling approaches may not work in practice despite a reasonably good match between modeled and measured dynamics. Consequently, analytical methods of predicting the level of decoupling which will actually be achieved in practice are needed.
Starting Page	868
Ending Page	872
File Size	426030
Page Count	5
File Format	PDF
ISBN	0780345304
ISSN	07431619
DOI	10.1109/ACC.1998.703532
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-06-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Nonlinear systems Legged locomotion Robots Limit-cycles Vibration control Payloads Force control Vibration measurement Actuators Shape control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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