DocumentCode
2701660
Title
Nonholonomic control of 3 link planar manipulator with a free joint
Author
Imura, Jun-ichi ; Kobayashi, Keigo ; Yoshikawa, Tsuneo
Author_Institution
Dept. of Mech. Eng., Kyoto Univ., Japan
Volume
2
fYear
1996
fDate
11-13 Dec 1996
Firstpage
1435
Abstract
This paper is concerned with point-to point control of a 3 link planar manipulator where the first two joints are actuated and the third revoluted joint is unactuated. This system is a special case of under-actuated manipulators, which have nonholonomic constraints. The main result of this paper is to show that this system is feedback equivalent to the chained form which is composed of twice differential equations. In addition, we propose a controller that stabilizes the system from any initial position to any desired position
Keywords
differential equations; feedback; manipulators; position control; stability; 3 link planar manipulator; chained form; feedback equivalent; free joint; nonholonomic constraints; nonholonomic control; point-to point control; under-actuated manipulators; Control systems; Convergence; Displacement control; Equations; Feedback; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.572714
Filename
572714
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