Motion planning under gravity for underactuated three-link robots

Author

De Luca, Alessandro ; Oriolo, Giuseppe

Author_Institution

Dipartimento di Inf. e Sistemistica, Rome Univ., Italy

Volume

1

fYear

2000

fDate

2000

Firstpage

139

Abstract

Presents a method for planning motions of three-link planar robots with a passive rotational third joint in the presence of gravity. These underactuated mechanisms can be fully linearized and input-output decoupled by means of a nonlinear dynamic state feedback, provided that a physical singularity is avoided. The linearizing output is the position of the center of percussion of the third link. Based on this, one can plan motions joining any initial and desired final state in finite time; in particular, transfers between inverted equilibria and swing-up maneuvers are easily obtained. Simulation results are reported for a 3R robot

Keywords

actuators; gravity; manipulators; path planning; state feedback; 3R robot; center of percussion; gravity; input-output decoupling; inverted equilibria; linearizing output; motion planning; nonlinear dynamic state feedback; passive rotational joint; physical singularity; simulation; swing-up maneuvers; three-link planar robots; under-actuated mechanisms; Actuators; Control system synthesis; Control systems; Gravity; Mechanical systems; Motion planning; Orbital robotics; Robot kinematics; State feedback; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.894595

Filename

894595