Motion Control of a Gymnastics Robot Using Virtual Holonomic Constraints

In this thesis the motion control problem of a gymnastics robot performing a bar routine is analysed, and a comprehensive solution is developed using the framework of virtual holonomic constraints. The routine is a combination of swinging manoeuvres on the bar and a back-ďŹ ipping dismount in the air. Virtual holonomic constraints are used extensively to parametrize the motions, for which stabilizing controllers are developed. Using tools such as high-gain observers, Poincar´e analysis, and linearization about a trajectory, the virtual constraints are dynamically reshaped so as to meet the control objectives for each motion. A physical gymnastics robot was built in the lab, and experiments were conducted to verify the theoretical predictions. Results show that the solutions developed were robust to real-world imperfections.M.A.S