Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly
A nonlinear feedback scheme for a gravity-assisted underactuated manipulator with second-order nonholonomic constraints is presented in this paper. The joints of the hyper articulated arm have no dedicated actuators but are activated by gravity. By tilting the base link appropriately, the gravitatio...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/60048 https://orcid.org/0000-0003-3155-6223 |
| _version_ | 1826213972873838592 |
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| author | Roy, Binayak Asada, Harry |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Roy, Binayak Asada, Harry |
| author_sort | Roy, Binayak |
| collection | MIT |
| description | A nonlinear feedback scheme for a gravity-assisted underactuated manipulator with second-order nonholonomic constraints is presented in this paper. The joints of the hyper articulated arm have no dedicated actuators but are activated by gravity. By tilting the base link appropriately, the gravitational torque drives the unactuated links to a desired angular position. With simple locking mechanisms, the hyperarticulated arm can change its configuration using only one actuator at the base. This underactuated arm design was motivated by the need for a compact snake-like robot that can go into aircraft wings and perform assembly operations using heavy end-effectors. The dynamics of the unactuated links are essentially second-order nonholonomic constraints for which there are no general methods to design closed-loop control. We propose a nonlinear closed-loop control law that is guaranteed to be stable in positioning one unactuated joint at a time. We synthesize a Lyapunov function to prove the convergence of this control scheme. The Lyapunov function also generates estimates of the domain of convergence of the control law for various control gains. The control algorithm is implemented on a prototype three-link system. Finally, we provide some experimental results to demonstrate the efficacy of the control scheme. |
| first_indexed | 2024-09-23T15:57:46Z |
| format | Article |
| id | mit-1721.1/60048 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:57:46Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/600482022-09-29T17:20:13Z Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly Roy, Binayak Asada, Harry Massachusetts Institute of Technology. Department of Mechanical Engineering Asada, Harry Roy, Binayak Asada, Harry A nonlinear feedback scheme for a gravity-assisted underactuated manipulator with second-order nonholonomic constraints is presented in this paper. The joints of the hyper articulated arm have no dedicated actuators but are activated by gravity. By tilting the base link appropriately, the gravitational torque drives the unactuated links to a desired angular position. With simple locking mechanisms, the hyperarticulated arm can change its configuration using only one actuator at the base. This underactuated arm design was motivated by the need for a compact snake-like robot that can go into aircraft wings and perform assembly operations using heavy end-effectors. The dynamics of the unactuated links are essentially second-order nonholonomic constraints for which there are no general methods to design closed-loop control. We propose a nonlinear closed-loop control law that is guaranteed to be stable in positioning one unactuated joint at a time. We synthesize a Lyapunov function to prove the convergence of this control scheme. The Lyapunov function also generates estimates of the domain of convergence of the control law for various control gains. The control algorithm is implemented on a prototype three-link system. Finally, we provide some experimental results to demonstrate the efficacy of the control scheme. Boeing Company 2010-12-01T18:44:08Z 2010-12-01T18:44:08Z 2009-10 2008-05 Article http://purl.org/eprint/type/JournalArticle 1552-3098 INSPEC Accession Number: 10894917 http://hdl.handle.net/1721.1/60048 Roy, B., and H.H. Asada. “Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly.” Robotics, IEEE Transactions on 25.5 (2009): 1125-1133. © Copyright 2009 IEEE https://orcid.org/0000-0003-3155-6223 en_US http://dx.doi.org/10.1109/tro.2009.2025067 IEEE Transactions on Robotics Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Roy, Binayak Asada, Harry Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly |
| title | Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly |
| title_full | Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly |
| title_fullStr | Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly |
| title_full_unstemmed | Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly |
| title_short | Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly |
| title_sort | nonlinear feedback control of a gravity assisted underactuated manipulator with application to aircraft assembly |
| url | http://hdl.handle.net/1721.1/60048 https://orcid.org/0000-0003-3155-6223 |
| work_keys_str_mv | AT roybinayak nonlinearfeedbackcontrolofagravityassistedunderactuatedmanipulatorwithapplicationtoaircraftassembly AT asadaharry nonlinearfeedbackcontrolofagravityassistedunderactuatedmanipulatorwithapplicationtoaircraftassembly |