南方科技大学知识苑(SUSTech KC): Operational Space Balancing Control based on Integrated CoM Dynamics for Underactuated Triple Pendulum Robot

题名	Operational Space Balancing Control based on Integrated CoM Dynamics for Underactuated Triple Pendulum Robot
作者	Donghao Li; Jing Guo ; Yunfan Fu ; JunPeng Chen ; Junwei Han; Yang Pan
发表日期	2024
DOI	10.1109/LRA.2024.3469822
发表期刊	IEEE Robotics and Automation Letters 影响因子和分区
ISSN	2377-3774
卷号	PP 期号:99
摘要	This paper introduces a novel control method for the underactuated triple pendulum robot (UTPR), allowing it to maintain balance while controlling the end-effector motion in the operational space. The UTPR is influenced by gravity in the vertical plane, with the first joint being passive (underactuated) and the rest being active (actuated). Previous research primarily focused on controlling end-effector motion within a gravity-free plane or investigating pendulum swing-up motion under gravity's influence. This paper proposes a novel dynamic model that includes the dynamics of the center of mass (CoM) and the operational space, describing the exact balancing physical processes of the system. Based on the new dynamic model and analysis of its inherent constraints, we derive the relationship between angular momentum and the CoM and design an effective operational space and balancing controller. Due to underactuation, a Quadratic Programming (QP) based controller is devised to minimize the error between the desired acceleration commands and actual accelerations. Simulation results demonstrate that the proposed method enables the system's end-effector to maintain stability at the task point and under external force disturbance and achieves excellent trajectory tracking.
相关链接	[IEEE记录]
学校署名	第一
引用统计
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/840363
专题	工学院_机械与能源工程系
作者单位	Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
第一作者单位	机械与能源工程系
第一作者的第一单位	机械与能源工程系
推荐引用方式 GB/T 7714	Donghao Li,Jing Guo,Yunfan Fu,et al. Operational Space Balancing Control based on Integrated CoM Dynamics for Underactuated Triple Pendulum Robot[J]. IEEE Robotics and Automation Letters,2024,PP(99).
APA	Donghao Li,Jing Guo,Yunfan Fu,JunPeng Chen,Junwei Han,&Yang Pan.(2024).Operational Space Balancing Control based on Integrated CoM Dynamics for Underactuated Triple Pendulum Robot.IEEE Robotics and Automation Letters,PP(99).
MLA	Donghao Li,et al."Operational Space Balancing Control based on Integrated CoM Dynamics for Underactuated Triple Pendulum Robot".IEEE Robotics and Automation Letters PP.99(2024).