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

Author

Arai, Hirohiko

Author_Institution

Lab. of Mech. Eng., AIST, Ibaraki, Japan

Volume

1

fYear

1996

fDate

4-8 Nov 1996

Firstpage

74

Abstract

Position 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. Trajectories from initial configurations to desired configurations are planned by combining simple translational and rotational trajectory segments, considering motion of the center of impact of the free link. This planning method is very fast because it requires no iteration. Feedback control using the passive joint angle is applied. Experimental results of positioning are presented

Keywords

feedback; manipulator dynamics; path planning; 2nd.-order nonholonomic dynamic constraint; 3-DOF manipulator; feedback control; nonholonomic constraint; passive joint; passive joint angle; position control; rotational trajectory segments; trajectory planning; translational trajectory segments; Acceleration; Actuators; Control systems; Controllability; Manipulator dynamics; Mobile robots; Orbital robotics; Position control; Robot kinematics; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.570634

Filename

570634