Abstract
The domestic robot platform ACROBOTER exploits a novel concept of ceiling based locomotion. A climber unit moves on the almost obstacle free ceiling, while carries a swinging unit with a system of suspending and orienting cables. The objective of the robot is the fine positioning of the swinging unit that accomplishes path following or pick and place tasks. Its motion is controlled by ducted fan actuators additionally to the variable length suspending cables. The complexity of the mechanical structure induces the use of natural coordinates for the kinematical description. An algorithm is proposed to control this underactuated and also redundant manipulator, which can be characterized as a control-constraint based computed torque control strategy.
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Zelei, A., Bencsik, L., Kovács, L.L., Stépán, G. (2013). Redundancy Resolution of the Underactuated Manipulator. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_29
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_29
Publisher Name: Springer, Vienna
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