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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2002 1 1|
|イベント||2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States|
継続期間: 2002 5 11 → 2002 5 15
ASJC Scopus subject areas