General formulation for under-actuated manipulators

Research output: Contribution to conferencePaperpeer-review

20 Citations (Scopus)

Abstract

Under-actuated and macro-mini manipulators represent common characteristics in dynamics. This paper introduces a general formulation of kinematics and dynamics for manipulator systems which are composed of two types generalized coordinate, active and passive, or primary and secondary. The Generalized Jacobian Matrix and the Generalized Inertia Tensor, originally proposed for free-floating space manipulators, are shown to be redefined for general under-actuated manipulator systems. The Reaction Null-Space and reactionless motion which are recently studied focusing to flexible-base manipulators, the compensability which is originally discussed for flexible-arm manipulators, and the measure of dynamic coupling, are proposed as examples of common properties for general under-actuated systems.

Original languageEnglish
Pages1651-1657
Number of pages7
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
Duration: 1998 Sep 71998 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint

Dive into the research topics of 'General formulation for under-actuated manipulators'. Together they form a unique fingerprint.

Cite this