DocumentCode
3161577
Title
Analysis and control of 3R underactuated manipulator
Author
Suzuki, Takahiro ; Kinoshita, Toru ; Gunji, Satoshi
Author_Institution
IIS, Univ. of Tokyo, Tokyo
fYear
2008
fDate
20-22 Aug. 2008
Firstpage
3086
Lastpage
3091
Abstract
In this paper, 3R underactuated manipulator under gravity is to be considered. Dynamical behaviors under vibratory input to the first joint are analyzed via averaging analysis. It is clarified that dynamical stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artificial potential produced by vibratory input against gravity. And a method of shape control is also proposed.
Keywords
manipulator dynamics; shape control; stability; vibration control; 3R underactuated manipulator; averaging analysis; dynamical stabilization; shape control; vibratory input; Actuators; Casting; Control systems; Elasticity; Gravity; Kinematics; Manipulator dynamics; Robot control; Shape control; Wire; Hyper-Flexible Manipulator; Underactuated Robot; Vibratory Control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference, 2008
Conference_Location
Tokyo
Print_ISBN
978-4-907764-30-2
Electronic_ISBN
978-4-907764-29-6
Type
conf
DOI
10.1109/SICE.2008.4655194
Filename
4655194
Link To Document