Energy-efficient inverse dynamic model of a Hexapod robot

2015 ◽  
Author(s):  
Abhijit Mahapatra ◽  
Shibendu Shekhar Roy ◽  
Kondalarao Bhavanibhatla ◽  
Dilip Kumar Pratihar
Keyword(s):  
Dynamic Model ◽  
Energy Efficient ◽  
Hexapod Robot ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model

Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

2010 ◽  
Vol 63 (1) ◽  
pp. 3-23 ◽  
Author(s):  
Peter Paul Pott ◽  
Achim Wagner ◽  
Essameddin Badreddin ◽  
Hans-Peter Weiser ◽  
Markus L. R. Schwarz
Keyword(s):  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Control Application ◽  
Hybrid Kinematics

scholarly journals A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

Symmetry ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 1849
Author(s):  
Jianbo Liu ◽  
Rongqiang Guan ◽  
Yongming Yao ◽  
Hui Wang ◽  
Linqiang Hu
Keyword(s):  
Dynamic Model ◽  
Flight Control ◽  
Virtual Work ◽  
Influence Factors ◽  
Parallel Manipulators ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Helicopter Flight

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.

scholarly journals A Reevaluation of the Inverse Dynamic Model for Eye Movements

2007 ◽  
Vol 27 (6) ◽  
pp. 1346-1355 ◽  
Author(s):  
A. M. Green ◽  
H. Meng ◽  
D. E. Angelaki
Keyword(s):  
Eye Movements ◽  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model

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

2013 ◽  
Vol 228 (9) ◽  
pp. 1501-1511 ◽  
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.

Evaluation of the inverse dynamic model in cerebellum during visual-vestibular interactions at different VOR gains in squirrel monkeys

2005 ◽  
Vol 65-66 ◽  
pp. 709-717 ◽  
Author(s):  
Yutaka Hirata ◽  
Akimasa Yoshikawa ◽  
Pablo M. Blazquez ◽  
Stephen M. Highstein
Keyword(s):  
Dynamic Model ◽  
Squirrel Monkeys ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model

scholarly journals Feed-forward control of elastic-joint industrial robot based on hybrid inverse dynamic model

2021 ◽  
Vol 13 (9) ◽  
pp. 168781402110381
Author(s):  
Mei Zaiwu ◽  
Chen Liping ◽  
Ding Jianwan
Keyword(s):  
Dynamic Model ◽  
Analytical Model ◽  
Control Method ◽  
Data Driven ◽  
Parameter Uncertainties ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Feed Forward ◽  
Elastic Joint ◽  
Feed Forward Control

A novel feedforward control method of elastic-joint robot based on hybrid inverse dynamic model is proposed in this paper. The hybrid inverse dynamic model consists of analytical model and data-driven model. Firstly, the inverse dynamic analytical model of elastic-joint robot is established based on Lie group and Lie algebra, which improves the efficiency of modeling and calculation. Then, by coupling the data-driven model with the analytical model, a feed-forward control method based on hybrid inverse dynamics model is proposed. This method can overcome the influence of the inaccuracy of the analytical inverse dynamic model on the control performance, and effectively improve the control accuracy of the robot. The data-driven model is used to compensate for the parameter uncertainties and non-parameter uncertainties of the analytical dynamic model. Finally, the proposed control method is proved to be stable and the multi-domain integrated system model of industrial robot is developed to verify the performance of the control scheme by simulation. The simulation results show that the proposed control method has higher control accuracy than the traditional torque feed-forward control method.

Sign in / Sign up

Export Citation Format

Share Document