Controllability of a 3-DOF manipulator with a passive joint under a nonholonomic constraint

Author

Arai, Hirohiko

Author_Institution

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

Volume

4

fYear

1996

fDate

22-28 Apr 1996

Firstpage

3707

Abstract

Controllability of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has 3 degrees of freedom in a horizontal plane and the third joint is passive. The dynamic constraint on the third link is 2nd-order nonholonomic. The controllability is proved by constructing examples of the input trajectories from arbitrary initial slates to arbitrary desired slates. The proof is intuitively understandable, and the construction of the input directly leads to the trajectory planning. Simulations show that the manipulator can reach the desired position and velocity by the constructed input

Keywords

controllability; feedback; manipulator dynamics; manipulator kinematics; path planning; 3-DOF manipulator; controllability; dynamic constraint; nonholonomic constraint; passive joint; trajectory planning; Actuators; Control systems; Controllability; Differential equations; Manipulator dynamics; Mechanical engineering; Mechanical systems; Position control; Robot kinematics; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.509278

Filename

509278