DocumentCode
2520833
Title
Dynamics and robust control of underactuated manipulators
Author
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
fYear
1998
fDate
29-31 Jul 1998
Firstpage
847
Lastpage
852
Abstract
A robust control scheme of underactuated manipulators using brakes at passive joints is presented to overcome actuator failures and uncertainties. The proposed control scheme has two control stages, that is, the passive joint control stage and the active joint control stage. Note that all passive joints are locked by their own brakes as soon as they reach their desired set-points with zero velocity. To illustrate the feasibility and validity of the proposed control scheme, simulation results for a three-link planar robot arm with a passive joint are presented
Keywords
actuators; brakes; manipulator dynamics; robust control; active joint control; actuator failures; brakes; passive joints; three-link planar robot arm; uncertainties; underactuated manipulators; Actuators; Manipulator dynamics; Mobile communication; Mobile robots; Orbital robotics; Redundancy; Robust control; Torque control; Transmission line matrix methods; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers
Conference_Location
Chiba
Type
conf
DOI
10.1109/SICE.1998.742927
Filename
742927
Link To Document