Precise trajectory tracking and stiffness modulation for tensegrity mechanisms are a challenging topic that can open new horizon of applications for this type of systems. This paper presents a new control strategy of tensegrity mechanisms using a model predictive controller (MPC). Based on a dynamic model, the proposed approach allows to track trajectories with low and relatively high dynamics as well as to modulate the mechanism stiffness by changing only the controller’s parameters. Trajectories of 30 s, 5 s and 1 s are performed showing a trajectory tracking improvement of up to \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$64\%$$\end{document} in the root mean square error when compared to literature results.


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    Titel :

    Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Lenarčič, Jadran (Herausgeber:in) / Siciliano, Bruno (Herausgeber:in) / Jurado Realpe, JR (Autor:in) / Abdelaziz, Salih (Autor:in) / Poignet, Philippe (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Erscheinungsdatum :

    2020-07-18


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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