By Topic

Influence Vectors Control for Robots Using Cellular-Like Binary Actuators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Girard, A. ; Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA ; Plante, J.-S.

Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio, and cost. This paper presents a robust fault-tolerant control scheme that is designed to meet the control challenges that are encountered by such robots, i.e., discrete actuator inputs, complex system modeling, and cross-coupling between actuators. In the proposed scheme, a desired vectorial system output, such as a position or a force, is commanded by recruiting actuators based on their influence vectors on the output. No analytical model of the system is needed; influence vectors are identified experimentally by sequentially activating each actuator. For position control tasks, the controller uses a probabilistic approach and a genetic algorithm to determine an optimal combination of actuators to recruit. For motion control tasks, the controller uses a sliding mode approach and independent recruiting decision for each actuator. Experimental results on a four degrees of freedom binary manipulator with 20 actuators confirm the method's effectiveness and its ability to tolerate massive perturbations and numerous actuator failures.

Published in:

Robotics, IEEE Transactions on  (Volume:30 ,  Issue: 3 )