Anti-gravity control of free-joint manipulators by vibrational input

Research output: Contribution to journalConference articlepeer-review

8 Citations (Scopus)

Abstract

In this paper, free-joint manipulators under gravity potential are to be considered. However those under gravitation are namely pendulum systems, the scope of this paper is to control to a configuration other than the gravitational equilibriums, namely straight up or down. The free-joint manipulators can be dynamically stabilized onto a configuration other than the gravitational equilibriums using the artificial potential produced by vibrational input tot he first joint against gravity. Dynamic behaviors with vibrational inputs are investigated via averaging analysis, and inclined equilibriums other than gravitational ones are clarified. A method to determine the amplitude and frequency of vibrational input to the first joint to realize the desired inclined configuration is formulated. A control method to stabilize the free-joint manipulators onto the desired configuration using sliding mode control is proposed.

Original languageEnglish
Pages (from-to)1315-1320
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 2002 Jan 1
Externally publishedYes
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

Keywords

  • Free-joint manipulators
  • Nonholonomic systems
  • Pendulum
  • Sliding mode control
  • Underactuated mechanism
  • Vibration control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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