Print Email Facebook Twitter Directional singularity-robust torque control for gyroscopic actuators Title Directional singularity-robust torque control for gyroscopic actuators Author Berry, Andrew (TU Delft OLD Biorobotics) Lemus Perez, D.S. (TU Delft OLD Biorobotics) Babuska, R. (TU Delft OLD Intelligent Control & Robotics) Vallery, H. (TU Delft OLD Biorobotics) Date 2016 Abstract Gyroscopic actuation is appealing for wearable applications due to its ability to impart free moments on a body without exoskeletal structures on the joints.We recently proposed an unobtrusive balancing aid consisting of multiple parallelmounted control moment gyroscopes (CMGs) contained within a backpack-like orthopedic corset. Using conventional CMG control techniques, geometric singularities result in a number of performance issues, including either unintended oscillations or freezing of the gimbals at certain alignments, which are typically mitigated by the addition of redundant actuators or by allowing errors in the generated moment; however, because of the minimalistic design of the proposed device and focus on accurate moment tracking, a new methodology is required. In this paper, a control scheme is proposed for non-redundant CMG systems in which oscillations at saturated states are avoided and all remaining singularities are efficiently escaped by exploiting the system geometry; due to its use of classification-specific singularity proximity measures that account for the command moment orientation, it is named the directional singularity-robust (DSR) control law. The performance of this control law is assessed in both simulations and hardware testing. The proposed method is suitable for a wide range of CMG systems, including both balancing and aerospace applications. Subject control moment gyroscope (CMG)fall preventiontorque controlwearable robotics To reference this document use: http://resolver.tudelft.nl/uuid:83cf033a-8dfb-446b-958c-6d2c7b35d85b DOI https://doi.org/10.1109/TMECH.2016.2603601 ISSN 1083-4435 Source IEEE - ASME Transactions on Mechatronics, 21 (6), 2755 - 2763 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2016 Andrew Berry, D.S. Lemus Perez, R. Babuska, H. Vallery Files PDF DirectionalSingularityRob ... ersion.pdf 739.39 KB Close viewer /islandora/object/uuid:83cf033a-8dfb-446b-958c-6d2c7b35d85b/datastream/OBJ/view