The ACROBOTER Platform - Part 2: Servo-Constraints in Computed Torque Control

  • Ambrus Zelei
  • Gábor Stépán
Conference paper
Part of the IUTAM Bookseries book series (IUTAMBOOK, volume 30)


The paper presents the motion control of the ceiling based service robot platform ACROBOTER that contains two main subsystems. The climbing unit is a serial robot, which realizes planar motion in the plane of the ceiling. The swinging unit is hoisted by the climbing unit and it is actuated by windable cables and ducted fans. The two subsystems form a serial and subsequent closed-loop kinematic chain segments. Because of the complexity of the system we use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. Thus the dynamical model of the system is given in the form of differential-algebraic equations (DAE). The system is under-actuated and the the inverse kinematics and dynamics cannot be solved in closed form. The control task is defined by the servo-constraints which are algebraic equations that have to be considered during the calculation of control forces. In this paper the desired control inputs are determined via the numerical solution of the resulting DAE problem using the Backward Euler discretization method.


Thrust Force Geometric Constraint Service Robot Main Cable Serial Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Dordrecht Heidelberg London New York 2011

Authors and Affiliations

  • Ambrus Zelei
    • 1
  • Gábor Stépán
    • 2
  1. 1.HAS-BME Research Group on Dynamics of Machines and VehiclesBudapestHungary
  2. 2.Department of Applied MechanicsBudapest University of Technology and EconomicsBudapestHungary

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