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Dynamic Analysis and Sliding Mode Control of a Novel Extendable Modular Multi-DOFs Link

[+] Author Affiliations
Hak Yi, Je Hong Yoo, Reza Langari

Texas A&M University, College Station, TX

Paper No. IMECE2012-87983, pp. 337-341; 5 pages
doi:10.1115/IMECE2012-87983
From:
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME

abstract

In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link’s length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.

Copyright © 2012 by ASME

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