Trajectory generation for underactuated control of a suspended mass

Jarvis Schultz*, Todd David Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations

Abstract

The underactuated system under consideration is a magnetically-suspended, differential drive robot utilizing a winch system to articulate a suspended mass. A dynamic model of the system is first constructed, and then a nonlinear, infinite-dimensional optimization algorithm is presented. The system model uses the principles of kinematic reduction to produce a mixed kinematic-dynamic model that isolates the modeling of the system actuators from the modeling of the rest of the system. In this framework, the inputs become generalized velocities instead of generalized forces facilitating real-world implementation with an embedded system. The optimization algorithm automatically deals with the complexities introduced by the nonlinear dynamics and underactuation to synthesize dynamically feasible system trajectories for a wide array of trajectory generation problems. Applying this algorithm to the mixed kinematic-dynamic model, several example problems are solved and the results are tested experimentally. The experimental results agree quite well with the theoretical showing promise in extending the capabilities of the system to utilize more advanced feedback techniques and to handle more complex, three-dimensional problems.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages123-129
Number of pages7
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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