In this article we present a comparison study of the robustness properties of three model-based nonlinear controllers for cooperative underactuated manipulators. Two of the controllers are based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load. The third is based on a gravity compensation sc...

In this paper we generate gaits for two types of underactuated mechanical systems: principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form of gaits, that is, a sequence of controlled shape changes of a multi-bodied mechanical system that when executed would produce a desired change in the unactuated position or orientation variables of the entire mechanica...

Applying attractor reconstruction techniques and other chaotic measurements, it is shown that the long-term dynamics of a vertical, underactuated, two-degrees-of-freedom robot called Pendubot may exhibit complex dynamics including chaotic behavior. These techniques use only the measurement of some available variable of the system, and the resulting reconstruction allows us to identify unstable ...

Purpose – Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping object. The purpose of the underactuation is to use less active inputs than the number of degrees of freedom of the gripper mechanism to drive the open and close motion of the gripper. Another purpose of underaction is to reduce the number of c...

Applying attractor reconstruction techniques and other chaotic measurements, it is shown that the long-term dynamics of a vertical, underactuated, two-degrees-of-freedom robot called Pendubot may exhibit complex dynamics including chaotic behavior. These techniques use only the measurement of some available variable of the system, and the resulting reconstruction allows us to identify unstable ...

Designing and analyzing controllers for underactuated systems with underactuation degree greater than one is still an open and challenging problem. In this paper, we study an unsolved problem of analyzing energy based swing-up control for a double pendulum on a cart, which has three degrees of freedom and only one control input. We present an original analysis of the convergence of the energy o...

One dimensional translational oscillation with a rotational actuator (TORA) system has been used as a benchmark for motivating the study of nonlinear control techniques. In this paper, a novel underactuated 2-dimensional TORA (2DTORA), which has one actuated rotor and two unactuated translational carts, is presented. The analysis of controllability around the system’s equilibriums yielded the c...

In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify t...