Title :
Motion planning and trajectory control of an underactuated three-link robot via dynamic feedback linearization
Author :
De Luca, Alessandro ; Oriolo, Giuseppe
Author_Institution :
Dipt. di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
We present a new method for motion planning and feedback control of three-link planar robot arms with a passive rotational third joint. These underactuated mechanical systems are shown to be fully linearizable and input-output decouplable by means of a a nonlinear dynamic feedback, provided a physical singularity is avoided. The linearizing output is the position of the so-called center of percussion of the third link. Based on this result, one can plan smooth motions joining in finite time any initial and desired final state of the robot. Moreover, it is easy to design an exponentially stabilizing feedback along the planned trajectory. Simulation results are reported for a 3R robot
Keywords :
control system synthesis; feedback; linearisation techniques; manipulator dynamics; nonlinear control systems; nonlinear dynamical systems; path planning; stability; 3R robot; I/O decouplable systems; dynamic feedback linearization; exponentially stabilizing feedback; feedback control; fully linearizable systems; input-output decouplable systems; linearizing output; motion planning; nonlinear dynamic feedback; passive rotational third joint; percussion center; three-link planar robot arms; trajectory control; underactuated mechanical systems; underactuated three-link robot; Feedback control; Gravity; Linear feedback control systems; Mechanical systems; Motion analysis; Motion control; Motion planning; Orbital robotics; Robot kinematics; Trajectory;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846450
