Time-scaling control of an underactuated manipulator

Author

Arai, Hirohiko ; Tanie, Kazuo ; Shiroma, Naoji

Author_Institution

Robotics Dept., Mech. Eng. Lab., Tsukuba, Japan

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

2619

Abstract

Position control of an underactuated manipulator that has one passive joint is investigated. The dynamic constraint caused by the passive joint is second-order nonholonomic. Time-scaling of the active joint trajectory and bi-directional motion planning from the initial and the desired configurations provide an exact solution of the positioning trajectory. The active and passive joints can be positioned to the desired angles simultaneously by swinging the active joints only twice. Feedback control constrains the manipulator along the planned path in the configuration space. Simulation and experimental results show the validity of the proposed methods

Keywords

feedback; manipulators; path planning; position control; active joint trajectory; bi-directional motion planning; dynamic constraint; feedback control; passive joint; positioning trajectory; second-order nonholonomic constraint; time-scaling control; underactuated manipulator; Bidirectional control; Differential equations; Feedback control; Manipulator dynamics; Orbital robotics; Position control; Robot kinematics; Robot sensing systems; Trajectory; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680737

Filename

680737