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.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion
Anirban Mazumdar,
Anirban Mazumdar
Massachusetts Institute of Technology, Cambridge, MA
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H. Harry Asada
H. Harry Asada
Massachusetts Institute of Technology, Cambridge, MA
Search for other works by this author on:
Anirban Mazumdar
Massachusetts Institute of Technology, Cambridge, MA
H. Harry Asada
Massachusetts Institute of Technology, Cambridge, MA
Paper No:
DSCC2009-2591, pp. 755-762; 8 pages
Published Online:
September 16, 2010
Citation
Mazumdar, A, & Asada, HH. "Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 755-762. ASME. https://doi.org/10.1115/DSCC2009-2591
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