Feedback control of a 3-DOF planar underactuated manipulator

Author

Arai, Hirohiko ; Tanie, Kazuo ; Shiroma, Naoji

Author_Institution

Dept. of Robotics, Mech. Eng. Lab., Tsukuba, Japan

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

703

Abstract

Feedback 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 2nd-order nonholonomic. A trajectory for positioning is composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Simulation results show the effectiveness of the feedback control

Keywords

asymptotic stability; controllability; feedback; linear quadratic control; manipulators; nonlinear control systems; path planning; position control; 2nd-order nonholonomic constraint; 3 DOF planar underactuated manipulator; center of percussion; dynamic constraint; feedback control; free link; nonlinear feedback; passive joint; positioning; rotational trajectory; translational trajectory; Actuators; Costs; Energy consumption; Feedback control; Manipulator dynamics; Mobile robots; Orbital robotics; Position control; Space vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620118

Filename

620118