Title :
Trajectory planning and control of an underactuated planar 2R manipulator
Author :
Rosas-Flors, J.A. ; Alvarez-Gallegos, Jaime ; Castro-Linares, Rafael
Author_Institution :
Dept. de Tecnologiae Avanzadas, UPIITA-IPN, Mexico D. F, Mexico
Abstract :
The problem of regulation of an underactuated planar 2R manipulator is solved by tracking appropriated off-line planned trajectories. A class of parametric trajectories is proposed to reach a desired configuration. An optimization algorithm is proposed to find the parameters. Besides, a feedback control is proposed to regulate the manipulator under error modeling and small deviations on the initial conditions. By using simulations, it is illustrated that if the coordinates of the underactuated system track the planned trajectories then the system reaches the desired configuration
Keywords :
feedback; manipulator dynamics; optimisation; path planning; tracking; 2R planar manipulator; feedback; optimization; tracking; trajectory planning; underactuated manipulator; Actuators; Control systems; Differential equations; Force control; Gravity; Kinematics; Manipulator dynamics; Mechanical systems; Trajectory; Vehicle dynamics;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973924
