NEW METHODS OF UNDERACTUATED ROBOT ANALYSIS, DESIGN AND CONTROL FOR CYCLIC TASKS

Abstract

One of the greatest challenges in the field of underactuated robotics is the use of system inversion methods for feedforward control. It has limited most work to only two types of robot tasks, either motion tracking or movement between natural resting positions. This work opens up another type, enabling underactuated robots to perform cyclic tasks, a repeating motion between two or more non-resting positions. The three main contributions presented include an underactuated system investigation tool, a work analysis joint replacement method, and most importantly, a generalized system inversion method, used to control an underactuated robot throughout a cyclic task. Worked examples demonstrate the usefulness of the first two tools while the results of experiments on an underactuated robot prove the validity of the system inversion control methodology. This work widens the applicability of underactuated robots, facilitating the use of safer and more energy efficient robots.