Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news originating from Beijing, People's Republic o f China, by NewsRx correspondents, research stated, "An impedance control scheme is proposed for a Stewart-structure-based wheel-legged robotic system to streng then the dynamic attitude adjustment stability in wheel motion. The wheel-leg, w hich is driven by electrical cylinders in the Stewart structure, is analyzed in kinematics and dynamics." Financial supporters for this research include National Key Research and Develop ment Project of China, National Natural Science Foundation of China (NSFC), Chin a Postdoctoral Science Foundation. Our news journalists obtained a quote from the research from the Beijing Institu te of Technology, "The rotation in the axial direction of every electric cylinde r is calculated to improve the accuracy of the kinematic model. To fulfill the i mpedance demands, a passive structure with 6 degrees of freedom (DOF) is modeled . The mass of the mechanism has a coupling effect on the impedance model for eac h DOF, which is a nonlinear function. As motion decoupling in the workspace has been completed for the Stewart structure, an impedance control strategy with inn er-loop position tracking is employed. An extended state observer (ESO) is desig ned to estimate the disturbances arising from the nonlinear coupling effects. Ba sed on the ESO observation outputs, an active disturbance rejection control that explicitly handles the workspace limit is designed with guaranteed practical st ability. By reducing force interaction and body vibration, the wheel-legged robo tic system keeps wheel motion stability on uneven roads."
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