Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism

Anders van Riesen, Matthieu Furet, Christine Chevallereau, Philippe Wenger

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)
    30 Downloads (Pure)

    Abstract

    This paper analyses the dynamics of an antagonistically actuated tensegrity mechanism. The mechanism is subject to gravity effects, which produce both stable and unstable equilibrium configurations. The workspace is shown to be not necessarily connected and its size depends on both the geometric, spring and actuator parameters of the mechanism. The antagonistic actuation forces, which are bounded, enable controlling both the stiffness and the position within certain limits. A computed torque control law is applied and simulations show interesting behaviors of the mechanism when the desired motion makes the mechanism jump between two connected components of the workspace.
    Original languageEnglish
    Title of host publicationROMANSY 22 – Robot Design, Dynamics and Control
    Subtitle of host publicationProceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France
    EditorsVigen Arakelian, Philippe Wenger
    PublisherSpringer
    Pages481-490
    Number of pages10
    ISBN (Electronic)978-3-319-78963-7
    ISBN (Print)978-3-319-78962-0
    DOIs
    Publication statusPublished - 1 Jan 2019
    Event22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control 2018 - Rennes, France
    Duration: 25 Jun 201828 Jun 2018
    Conference number: 22
    https://romansy2018.ls2n.fr/

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume584
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Conference

    Conference22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control 2018
    Abbreviated titleROMANSY 2018
    CountryFrance
    CityRennes
    Period25/06/1828/06/18
    Internet address

    Keywords

    • Control
    • Dynamics
    • Mechanism
    • Stiffness
    • Tensegrity

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