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Wearable Ultrasound Interface for Prosthetic Hand Manipulation Read chapter Read first chapter

2022 | OriginalPaper | Chapter

Energy Gradient Descent Method for Actuation of a Direct-Drive Spherical Robotic Wrist

Authors : Mengke Li, Yaqing Deng, Kun Bai

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

This paper presents an energy gradient descent method for actuating a spherical robotic wrist which is capable of providing three-DOF rotations in one joint. By formulating the relationship between the magnetic energy for driving the spherical rotor and the current inputs supplied to the motor, an energy gradient descent method is proposed by adjusting the supplied current inputs for shaping a minimum magnetic energy point at the desired rotor state. As a result, the rotor will approach to the desired state automatically without the need of any feedback control laws. The solutions to the supplied currents for shaping a desired energy profile can be computed in real-time with a magnetic-flux-based model. The proposed method has been validated with both numerical simulations and experimental tests performed on a cooperative robotic manipulator equipped with a spherical wrist actuator.

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Metadata
Title
Energy Gradient Descent Method for Actuation of a Direct-Drive Spherical Robotic Wrist
Authors
Mengke Li
Yaqing Deng
Kun Bai
Copyright Year
2022
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-031-13834-8

Electronic ISBN: 978-3-031-13835-5

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-3-031-13835-5_68

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