Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion
Author(s)
Mazumdar, Anirban
Asada, Haruhiko
Date Issued
October 2009
Journal
ASME 2009 Dynamic Systems and Control Conference, Volume 2
Publisher
American Society of Mechanical Engineers
Citation
Mazumdar, Anirban, and H. Harry Asada. “Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion.” ASME 2009 Dynamic Systems and Control Conference, Volume 2, 12-14 October, 2009, Hollywood, California, ASME, 2009, pp. 755–62. © 2009 by ASME
Version
Final published version
Abstract
This paper describes the analysis, design, and implementation of an under-actuated robot control system for swing up motion. The robot, called the “Mag-Foot” robot, uses permanent magnets to adhere to steel surfaces. This robot uses a novel tilting foot design for locomotion and can swing over small obstacles using an underactuated swinging motion. Since the robot can only adhere to the surface using limited (and relatively small) magnetic forces, it may fall down due to the reaction forces caused by the swing- up motion. To prevent failure, an optimal swing up trajectory is designed so that the maximum reaction force during the trajectory is minimized. The trajectories are parameterized using sigmoids and are determined by solving the dynamic equations as a 2 point boundary value problem. Finally, experiments are performed to evaluate the validity of this approach. The results of these experiments are promising and illustrate the validity of our approach. Topics: Motion, Robots, Optimal control
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/DSCC2009-2591
