Dynamic analysis and control of an antagonistically actuated tensegrity mechanism

Anders van Riesen (1) , Matthieu Furet (2) , Christine Chevallereau (3) , Philippe Wenger (2, 3)

1 University of Twente
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe ReV - Robotique Et Vivant

This paper analyses the dynamics of an antagonistically ac-tuated 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.

Mots clés: Tensegrity; Mechanism; Dynamics; Stiffness; Control

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

Anders van Riesen, Matthieu Furet, Christine Chevallereau, Philippe Wenger. Dynamic analysis and control of an antagonistically actuated tensegrity mechanism. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.481-490, ⟨10.1007/978-3-319-78963-7_60⟩. ⟨hal-01989963⟩