Inverse Dynamic Model using GRU Networks Learning

In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that controls the main rotor. In recent years, the demand for compact swashplate designs has increased owing to the development of small-scale helicopters. The swashplate mechanism proposed in this paper is the latest architectures used for hingeless rotors without a Bell-Hiller mixer. Firstly, the kinematic analysis is derived from the parallel manipulators concepts. Then, based on the principle of virtual work, a methodology for deriving a closed-form dynamic equation of the FBL swashplate mechanism is developed. Finally, the correctness and efficiency of the presented analytical model are demonstrated by numerical examples and the influence factors of the loads acted on actuators are discussed.

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Model based control of 3 DOF parallel delta robot using inverse dynamic model

2017 IEEE International Conference on Mechatronics and Automation (ICMA) ◽

10.1109/icma.2017.8015814 ◽

2017 ◽

Author(s):

Meryam Rachedi

Keyword(s):

Dynamic Model ◽

Inverse Dynamic ◽

Inverse Dynamic Model ◽

Model Based Control ◽

Model Based ◽

Delta Robot

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Localized Extreme Learning Machine for online inverse dynamic model estimation in soft wearable exoskeleton

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) ◽

10.1109/biorob.2016.7523688 ◽

2016 ◽

Cited By ~ 4

Author(s):

Binh Khanh Dinh ◽

Leonardo Cappello ◽

Lorenzo Masia

Keyword(s):

Dynamic Model ◽

Extreme Learning Machine ◽

Model Estimation ◽

Inverse Dynamic ◽

Inverse Dynamic Model ◽

Wearable Exoskeleton ◽

Learning Machine

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A Reevaluation of the Inverse Dynamic Model for Eye Movements

Journal of Neuroscience ◽

10.1523/jneurosci.3822-06.2007 ◽

2007 ◽

Vol 27 (6) ◽

pp. 1346-1355 ◽

Cited By ~ 30

Author(s):

A. M. Green ◽

H. Meng ◽

D. E. Angelaki

Keyword(s):

Eye Movements ◽

Dynamic Model ◽

Inverse Dynamic ◽

Inverse Dynamic Model

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Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406213509611 ◽

2013 ◽

Vol 228 (9) ◽

pp. 1501-1511 ◽

Cited By ~ 6

Author(s):

Dalei Pan ◽

Feng Gao ◽

Yunjie Miao

Keyword(s):

Lower Extremity ◽

Dynamic Model ◽

Control Law ◽

Hydraulic Actuator ◽

Inverse Dynamic ◽

Inverse Dynamic Model ◽

Level Walking ◽

Performance Analyses ◽

Heavy Loads ◽

Dynamic Research

This article proposes a novel type of series-parallel lower extremity exoskeleton driven by hydraulic actuators. Each leg of the exoskeleton has six DOFs, which can walk like human and carry heavy loads. A mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Based on Kane's method, the inverse dynamic model of the exoskeleton was conducted. Finally, the exoskeleton humanoid gaits of level walking, ascent, descent, level walking with different loads and speed were simulated, and the required driving torques and power were obtained. These performance analyses provide a basis to the design of the control law and the estimation of the hydraulic actuator parameters for the exoskeleton.

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