Abstract
Robots using cellular-like redundant binary actuators could outmatch modern robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust control scheme that is designed to meet the challenges encountered by such robots, i.e., discrete actuator inputs, complex system modeling and cross-coupling between actuators. In the proposed scheme, a desired vectorial system output, such as a position or a force, is commanded by recruiting actuators based on their influence vectors on the output. No analytical model of the system is needed, influence vectors are identified experimentally by sequentially activating each actuators. Experimental results on a four-degrees-of-freedom binary manipulator with twenty actuators confirm the method effectiveness, for position and motion control, and its ability to tolerate massive perturbations and up to 50% actuator failures.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
