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Journal Articles

Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations

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Bálint Bodor, Ambrus Zelei, László Bencsik
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. August 2021, 16(8): 081002.
Paper No: CND-20-1140
https://doi.org/10.1115/1.4051168
Published Online: June 16, 2021
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Topics: Algorithms, Control equipment, Errors, Manipulators, Optimization, Simulation, Trajectories (Physics), Actuators, Dynamics (Mechanics), Equations of motion
Journal Articles

Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot

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Ambrus Zelei, László Bencsik, Gábor Stépán
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2017, 12(3): 031011.
Paper No: CND-16-1237
https://doi.org/10.1115/1.4034868
Published Online: December 5, 2016
View Articletitled, Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot
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Topics: Actuators, Dynamics (Mechanics), Multibody systems, Robots, Dimensions, Control algorithms, Robotics
Proceedings Papers

Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems

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La´szlo´ L. Kova´cs, Jo´zsef Ko¨vecses, Ambrus Zelei, La´szlo´ Bencsik, Ga´bor Ste´pan
Proc. ASME. IDETC-CIE2011, Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B, 377-382, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48533
https://doi.org/10.1115/DETC2011-48533
View Paper titled, Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems
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Topics: Servomechanisms, Torque control, Actuators, Computer simulation, Control equipment, Degrees of freedom, Equations of motion, Robots
Proceedings Papers

Computed Torque Control Method for Under-Actuated Manipulator

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Ambrus Zelei, La´szlo´ L. Kova´cs, Ga´bor Ste´pa´n
Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 523-528, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86409
https://doi.org/10.1115/DETC2009-86409
View Paper titled, Computed Torque Control Method for Under-Actuated Manipulator
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Topics: Manipulators, Torque control, Actuators, Algebra, Cables, Computer simulation, Control equipment, Cranes, Dynamic analysis, Stress