This paper summarizes our recent development of algorithms that construct feasible trajectories for problems that involve both differential constraints (typically in the form of an underactuated nonlinear system), and global constraints (typically arising from robot collisions). Dynamic programming approaches are described that produce approximately-optimal solutions for low-dimensional problem...

The stabilization problem for a class of nonlinear systems is solved via novel method inspired by back-stepping. method, that we call underactuated back-stepping, introduced solving the an inertia wheel pendulum and it then developed mechanical systems. properties resulting closed-loop are studied in detail case studies given to show effectiveness proposed method.

In this paper, the feedforward neural network with Levenberg-Marquardt backpropagation training algorithm is used to predict the grasping forces according to the multisensory signals as training samples for specific design of underactuated multifingered hand to avoid the complexity of calculating the inverse kinematics which is appeared through the dynamic modeling of the robotic hand and prepa...

This paper is concerned with control of a 3 link planar underactuated manipulator that is known as a second order nonholonomic system. Since we have already proposed a control law that ensures convergence of its state to a desirable trajectory and to any desired final point, we propose a method of design of a desirable trajectory that starts from any given initial point, and then passes any giv...

Task control for underactuated redundant articulated robotic systems is addressed in this paper. In failed ground robots, as well as in aerial or underwater vehicle-manipulator systems, the unactuated degrees of freedom generally affect the task space variables to be controlled, and thus must be properly taken into account in the formulation of the control law. Within a multiple task-priority p...

Two discontinuous solutions for the kinematic position and attitude closed loop control problem of an underactuated floating body are considered. The first is derived on the basis of Lyapunovs stability theory while the second is designed exploiting a novel idea: first a vector field is defined such that an ideal point free to move in any direction would exponentially converge to the desired co...

Current prosthetic hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumbindex pinch. Although most amputees consider this performance as acceptable 6r usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronic design and technology. This paper focus on an innovative approach for the design an...

Analysis and control of underactuated mechanical systems in the nonzero velocity setting remains a challenging problem. In this paper, we demonstrate the utility of a recently developed alternative representation of the equations of motion for this large class of nonlinear control systems. The alternative representation gives rise to an intrinisic symmetric form. The generalized eigenvalues and...

This contribution presents the control of a certain kind of mechanical systems based on energy considerations. The plants under investigation are underactuated lumped and distributed parameter systems, which consist of two masses and an elastic element. After a brief introduction of the used mathematical objects, the proposed controller design method is applied to a simple introductory example ...

This paper investigates the problem of modeling and controlling a space manipulator system with flexible joints links. The dynamic model is derived by using Lagrange equation floating frame reference formulation, where assumed mode method adopted to discretize links, while are regarded as linear torsion springs. natural characteristics single link manipulator, under three different boundary con...