Print Email Facebook Twitter Torque control design for minimalistic gyroscopic balance assistance Title Torque control design for minimalistic gyroscopic balance assistance Author Berry, A. Contributor Vallery, H. (mentor) Babuska, R. (mentor) Lemus, D. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Delft Center for Systems and Control Date 2015-08-10 Abstract A minimalistic robotic device for aiding persons with degraded balancing ability was recently proposed, employing a number of single-gimbal control moment gyroscopes (CMGs) mounted to a backpack-like orthopedic corset. Once a fall is detected, the device must track a predefined moment profile to bring the subject upright or else slow the fall enough for the wearer to self-stabilize. CMGs are gyroscopic momentum exchange devices that are prized due to their ability to output a larger moment than that applied by their constituent motors; however, these actuators have highly nonlinear dynamics and are susceptible to geometric singularities in their output, making their control difficult. Little has been published in the context of singularity-robust CMG control in terrestrial applications, while extensive studies pertaining to spacecraft attitude control have limited relevance due to fundamental differences in the nature of the application and number of actuators employed. This work proposes a controller based on the minimizing solution to a weighted linear least-squares combination of moment tracking errors and control efforts, with additional proximity-dependent terms accounting for performance issues at the two relevant classes of singularities. A second controller is presented for a recently-patented CMG design which utilizes a second elastically-constrained inner gimbal intended to resist disturbances imparted by motion of the wearer. The performance of the two controllers is evaluated through both simulations and hardware testing. Subject control moment gyroscope (CMG)fall preventionwearable roboticstorque control To reference this document use: http://resolver.tudelft.nl/uuid:d0be5436-d0c1-4254-bff4-378f9bf4d3f7 Embargo date 2020-07-28 Part of collection Student theses Document type master thesis Rights (c) 2015 Berry, A.