Analysis and control of 3R underactuated manipulator

Takahiro Suzuki, Toru Kinoshita, Satoshi Gunji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 artifical potential prodused by vibratory input against gravity. And a method of shape control is also proposed.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages3086-3091
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 3
Externally publishedYes
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: 2008 Aug 202008 Aug 22

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period08/8/2008/8/22

Keywords

  • Hyper-flexible manipulator
  • Underactuated robot
  • Vibratory control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Suzuki, T., Kinoshita, T., & Gunji, S. (2008). Analysis and control of 3R underactuated manipulator. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 3086-3091). [4655194] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2008.4655194