Analysis and control of 3R underactuated manipulator

Takahiro Suzuki, Toru Kinoshita, Satoshi Gunji

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
ページ3086-3091
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベントSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
継続期間: 2008 8 202008 8 22

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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