Control for a Two-Link Planar Robot With an Actuated Tail

• DOI: 10.1115/imece2018-86827
• Publication Date: 2019-01-15T17:31:57Z
• Authors: Xinjia Yu; Mark Bedillion
• Keywords: Grippers; Bang-bang robot

In this paper, a new climbing robot concept and its control strategy are introduced. The presented in article is two-link planar equipped with two magnetic grippers one actuated tail, which designed to add energy the system for efficient climbing. inspired by brachiation robots. By alternating activation of using tail energy, can string together sequence pendulum-like paths motion reach any configuration on surface. Its high mobility low consumption make candidate applications cleaning inspection vertical surfaces. non-linear dynamics swinging studied Lagrange formulation under assumption that there no slip grippers. uses high-level planner determine grip points low-level controller actuate achieving accuracy. Model predictive (MPC) applied optimal torque provided tail. initial work trajectory planning based minimization distance travelled. performance discussed MATLAB simulation results. paper concludes discussing alternative planning/control strategies along towards experimental validation.