Control of nonholonomic free-joint manipulators with one actuator

T. Suzuki, Y. Nakamura

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)


Manipulators with free joints are second-order non-holonomic systems whose dynamical constraints are nonintegrable. Such systems are known to be under-actuated systems which can be controlled by less actuator than the dimension of the configuration space. Previously proposed methods to control free-joint manipulators have been based on the assumption of perfectly frictionless free joints. In this paper, averaging analysis of 3R manipulators with one actuator clarifies that their frictionless models are Hamiltonian systems with a conservation of an energy-like quantity. From experiments and simulations, 3R free-joint manipulators with friction at the free joints show dissipative behaviors converging to an equilibrium point. A convergence control method using the energy-like quantity to stabilize to the equilibrium point is proposed.

Original languageEnglish
Number of pages6
Publication statusPublished - 2000 Dec 1
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5


Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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