This paper presents a methodology for design of dissipative assist robots with proven stability during set-point control. A dissipative assist robot is defined as one where the actuators continuously dissipate energy from the robot until the robot reaches the desired set point. We have discussed in this paper that, under well known control laws, it is hard to characterize dissipativity of a general assist robot. However, by appropriately designing the robot through inertia redistribution, the dynamic equations can be modified so that the control laws can now be proven to be both dissipative and stable under set-point control. The proposed method is demonstrated through simulation of a three-link planar manipulator used as an assist robot to modify human functional movements in a vertical plane.
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e-mail: agrawal@udel.edu
e-mail: jcryu@udel.edu
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December 2007
Research Papers
Design of Dissipative and Stable Assist Robots
Sunil K. Agrawal, Ph.D.,
Sunil K. Agrawal, Ph.D.
Professor
Mechanical Systems Laboratory, Department of Mechanical Engineering,
e-mail: agrawal@udel.edu
University of Delaware
, Newark, Delaware 19716
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Ji-Chul Ryu
Ji-Chul Ryu
Graduate Student
Mechanical Systems Laboratory, Department of Mechanical Engineering,
e-mail: jcryu@udel.edu
University of Delaware
, Newark, Delaware 19716
Search for other works by this author on:
Sunil K. Agrawal, Ph.D.
Professor
Mechanical Systems Laboratory, Department of Mechanical Engineering,
University of Delaware
, Newark, Delaware 19716e-mail: agrawal@udel.edu
Ji-Chul Ryu
Graduate Student
Mechanical Systems Laboratory, Department of Mechanical Engineering,
University of Delaware
, Newark, Delaware 19716e-mail: jcryu@udel.edu
J. Mech. Des. Dec 2007, 129(12): 1251-1255 (5 pages)
Published Online: December 14, 2006
Article history
Received:
May 22, 2006
Revised:
December 14, 2006
Citation
Agrawal, S. K., and Ryu, J. (December 14, 2006). "Design of Dissipative and Stable Assist Robots." ASME. J. Mech. Des. December 2007; 129(12): 1251–1255. https://doi.org/10.1115/1.2779891
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