Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots

Ziad Zamzami, Faïz Ben Amar

Abstract

Swing-up and throwing tasks for underactuated manipulators are examples of dynamic motions that exhibit highly nonlinear coupling dynamics. One of the key ingredients for such complex behaviors is motion coordination to exploit their passive dynamics. Despite the existence of powerful tools such as nonlinear trajectory optimization, they are usually treated as blackboxes that provide local optimal trajectories. We introduce the Dynamical Coupling Map (DCM), a novel graphical technique, to help gain insight into the output trajectory of the optimization and analyze the capability of underactuated robots. The DCM analysis is demonstrated on the swing up motion of a simplified model of a gymnast on high bar. The DCM shows in a graphical and intuitive way the pivotal role of exploiting the nonlinear inertial forces to reach the unstable equilibrium configuration while taking into account the torque bounds constraints. In this paper, we present the DCM as a posteriori analysis of a local optimal trajectory, found by employing the direct collocation trajectory optimization framework.

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Paper Citation


in Harvard Style

Zamzami Z. and Amar F. (2016). Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 548-557. DOI: 10.5220/0006012405480557


in Bibtex Style

@conference{icinco16,
author={Ziad Zamzami and Faïz Ben Amar},
title={Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={548-557},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006012405480557},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots
SN - 978-989-758-198-4
AU - Zamzami Z.
AU - Amar F.
PY - 2016
SP - 548
EP - 557
DO - 10.5220/0006012405480557