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Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot [electronic resource]
, Article Robotica ; Robotica / Volume 31 / Issue 07 / October 2013, pp 1119-1129 ; Lavasan, S. M. H ; Norouz, M ; Rahimi Mousavi, M. S ; Sharif University of Technology
Abstract
The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers “brachiation between fixed branches with different distance and height,” whereas the second problem deals with the “brachiating and catching of a moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “target dynamics” method which was...
Design, Fabrication and Model-based Control of Brachiation Robot
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
In the beginning of the 90’s a new type of robot was introduced by Fukuda. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, optimal control is used to obtain the optimal trajectories for two different problems. The first problem is “Brachiation between fixed branches with different distance and height” and the second is “Brachiating and catching the moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “Target Dynamics” method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the...
Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot
, Article Robotica ; Volume 31, Issue 7 , 2013 , Pages 1119-1129 ; 02635747 (ISSN) ; Lavasani, S. M. H ; Norouzi, M ; Mousavi, M. S. R ; Sharif University of Technology
2013
Abstract
The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers brachiation between fixed branches with different distance and height, whereas the second problem deals with the brachiating and catching of a moving target branch. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the target dynamics method which was proposed...
Optimal trajectory planning for brachiation robot on ladder with irregular branches
, Article Proceedings of the ASME Design Engineering Technical Conference, 28 August 2011 through 31 August 2011 ; Volume 6, Issue PARTS A AND B , August , 2011 , Pages 1131-1137 ; 9780791854839 (ISBN) ; Lavasani, S. M. H ; Mousavi, M. S. R ; Norouzi, M ; Sharif University of Technology
2011
Abstract
This paper deals with control of the brachiation robot. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, Pontryagin's minimum principle is used to obtain the optimal trajectories for two different problems. The first problem is "Brachiation between fixed branches with different distance and height" and the second is "Brachiating and catching the moving target branch". Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the "Target Dynamics" method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the brachiation...