Control of manipulators with free-joints via the averaging method

Author

Suzuki, Takahiro ; Nakamura, Yoshihiko

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ., Japan

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2998

Abstract

A manipulator with free joints is a class of under-actuated mechanisms. Control of such systems is one of major topics in robotics and control engineering. In this paper, we apply the averaging method to manipulators connected by free joints and describe their behaviors in response to periodic inputs. We analyze 2R and 3R free-joint manipulators and show that each system has invariant manifolds defined by an energy-like conserved quantity. We also develop a control method via feedback modulation of the input amplitude to reach a desired invariant manifold. The effectiveness of the method is verified by computer simulations

Keywords

feedback; manipulator dynamics; 2R free-joint manipulator control; 3R free-joint manipulator control; averaging method; energy-like conserved quantity; feedback modulation; input amplitude; invariant manifold; invariant manifolds; periodic inputs; under-actuated mechanisms; Amplitude modulation; Bismuth; Control engineering; Control systems; Manifolds; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robots; Torque;

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.1997.606743

Filename

606743