Title :
Geometric control of the brachiation robot using controlled Lagrangians method
Author :
Tashakori, Shabnam ; Vossoughi, Gholamreza ; Yazdi, Ehsan Azadi
Author_Institution :
Sharif Univ. of Technol., Tehran, Iran
Abstract :
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.
Keywords :
mobile robots; partial differential equations; particle swarm optimisation; robot dynamics; stability; PDE; PSO algorithm; brachiation robot; controlled Lagrangians method; controller gains; geometric control; locomotion; numerical simulations; revolute joints; robot dynamic model; stabilization; Control systems; Equations; Mathematical model; Mechanical systems; Robot kinematics; Service robots; Brachiation robot; Controlled Lagrangians method; PSO algorithm; Underactuated system;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990986
