Nonholonomic control of a three-DOF planar underactuated manipulator

Author

Arai, Hirohiko ; Tanie, Kazuo ; Shiroma, Naoji

Author_Institution

Mech. Eng. Lab., AIST-MITI, Tsukuba, Japan

Volume

14

Issue

5

fYear

1998

fDate

10/1/1998 12:00:00 AM

Firstpage

681

Lastpage

695

Abstract

Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is shown to be second-order nonholonomic. Controllability of the system is proved by constructing examples of the input trajectories from arbitrary initial states to arbitrary desired states, considering the motion of the center of percussion of the link. Trajectories for positioning are composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback control. Simulations and experimental results show the effectiveness of the planned trajectory and the feedback control law

Keywords

controllability; manipulator dynamics; nonlinear control systems; position control; stability; center of percussion; dynamic constraint; feedback control law; free link; nonholonomic control; nonlinear feedback control; positioning; second-order nonholonomic constraint; three-DOF planar underactuated manipulator; trajectory segments; Acceleration; Actuators; Controllability; Differential equations; Feedback control; Manipulator dynamics; Mechanical systems; Robot kinematics; Torque; Vehicle dynamics;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.720345

Filename

720345