首页|Studies from University of Nantes Provide New Data on Robotics (Control Analysis of an Underactuated Bio-inspired Robot)
Studies from University of Nantes Provide New Data on Robotics (Control Analysis of an Underactuated Bio-inspired Robot)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Fresh data on Robotics are presented i n a new report. According to news originating from Nantes, France, by NewsRx cor respondents, research stated, “This article is devoted to the control of bio-ins pired robots that are underactuated. These robots are composed of tensegrity joi nts remotely actuated with cables, which mimic the musculoskeletal system of the bird neck.” Our news journalists obtained a quote from the research from the University of N antes, “A computed torque control (CTC) is applied to these robots as well as an original control called pseudo computed torque control (PCTC). This new control uses the dynamics and the pseudo-inverse of the Jacobian matrix. The stability of the two proposed controls is then analyzed through linearization of the dynam ic model and expression of the closed-loop transfer function in the Laplace doma in. We show that, depending on the desired trajectory, the CTC can be unstable w hen the controlled variables are the end effector position and orientation. For a robot with many joints and a limited number of cables, the CTC is always unsta ble. Instead, the PCTC shows a large domain of stability. The analysis is comple mented by experimental tests demonstrating that the CTC and PCTC exhibit similar performance when the CTC is stable.”
NantesFranceEuropeEmerging Technol ogiesMachine LearningNano-robotRobotRoboticsUniversity of Nantes
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