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Geometric control of the brachiation robot using controlled Lagrangians method

Tashakori, S ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2014.6990986
  3. Abstract:
  4. This paper studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this paper, after deriving dynamic model of the robot the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE's involved in the method of controlled lagrangian. Satisfactory controller's gains are chosen by PSO algorithm. Finally, feasibility of the developed controller is investigated by numerical simulations
  5. Keywords:
  6. Brachiation robot ; Controlled Lagrangians method ; PSO algorithm ; Underactuated system ; Control theory ; Controllers ; Lagrange multipliers ; Controlled Lagrangian ; Geometric control ; Matching condition ; Revolute joints ; Robots
  7. Source: 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; 17 December , 2014 , Pages 706-710
  8. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6990986