Time-scaling control of an underactuated manipulator

被引：0
|
作者：
Arai, H [1 ]
Tanie, K [1 ]
Shiroma, N [1 ]
机构：
[1] Robot Dept, Mech Engn Lab, Tsukuba, Ibaraki 3058564, Japan
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2619 / 2626
页数：4
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