Abstract
In this paper, free-joint manipulators under gravity potential are to be considered. Although free-joint manipulators under gravity are namely pendulum systems, there is difference that pendulums are controlled to the gravitational equilibriums and these free-joint manipulators are controlled to the other configuration. Dynamical behaviors under vibrational 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 artificial potential produced by vibrational input against gravity. Passive impedance property is clarified for the dynamically stabilized systems to an external disturbance and an impedance force control method to attenuate desired impedance property is proposed.
| Original language | English |
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| Pages | 2274-2279 |
| Number of pages | 6 |
| Publication status | Published - 2002 Jan 1 |
| Externally published | Yes |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 2002 Sep 30 → 2002 Oct 4 |
Other
| Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications