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

1 Citation (Scopus)
2 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

Fingerprint

Tensegrity
Torque control
Dynamic Control
Dynamic Analysis
Dynamic analysis
Gravitation
Actuators
Stiffness
Workspace
Connected Components
Torque
Actuator
Gravity
Jump
Unstable
Configuration
Motion
Simulation

Keywords

  • Control
  • Dynamics
  • Mechanism
  • Stiffness
  • Tensegrity

Cite this

van Riesen, A., Furet, M., Chevallereau, C., & Wenger, P. (2019). Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism. In V. Arakelian, & P. Wenger (Eds.), ROMANSY 22 – Robot Design, Dynamics and Control: Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France (pp. 481-490). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584). Springer. https://doi.org/10.1007/978-3-319-78963-7_60
van Riesen, Anders ; Furet, Matthieu ; Chevallereau, Christine ; Wenger, Philippe. / Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism. ROMANSY 22 – Robot Design, Dynamics and Control: Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France. editor / Vigen Arakelian ; Philippe Wenger. Springer, 2019. pp. 481-490 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
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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.",
keywords = "Control, Dynamics, Mechanism, Stiffness, Tensegrity",
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van Riesen, A, Furet, M, Chevallereau, C & Wenger, P 2019, Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism. in V Arakelian & P Wenger (eds), ROMANSY 22 – Robot Design, Dynamics and Control: Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 584, Springer, pp. 481-490, 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control 2018, Rennes, France, 25/06/18. https://doi.org/10.1007/978-3-319-78963-7_60

Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism. / van Riesen, Anders; Furet, Matthieu; Chevallereau, Christine ; Wenger, Philippe.

ROMANSY 22 – Robot Design, Dynamics and Control: Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France. ed. / Vigen Arakelian; Philippe Wenger. Springer, 2019. p. 481-490 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584).

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

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AB - 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.

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van Riesen A, Furet M, Chevallereau C, Wenger P. Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism. In Arakelian V, Wenger P, editors, ROMANSY 22 – Robot Design, Dynamics and Control: Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France. Springer. 2019. p. 481-490. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-319-78963-7_60