Control of manipulators with free-joints via the averaging method

Takahiro Suzuki, Yoshihiko Nakamura

研究成果: Conference article査読

27 被引用数 (Scopus)

抄録

A manipulator with free joints is a class of under-actuated mechanisms. Control of such systems is one of major topics in robotics and control engineering. In this paper, we apply the averaging method to manipulators connected by free joints and describe their behaviors in response to periodic inputs. We analyze 2R and 3R free-joint manipulators and show that each system has invariant manifolds defined by an energy-like conserved quantity. We also develop a control method via feedback modulation of the input amplitude to reach a desired invariant manifold. The effectiveness of the method is verified by computer simulations.

本文言語English
ページ(範囲)2998-3005
ページ数8
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
4
出版ステータスPublished - 1997 1 1
外部発表はい
イベントProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
継続期間: 1997 4 201997 4 25

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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