Control of nonholonomic free-joint manipulators with one actuator

T. Suzuki, Y. Nakamura

研究成果: Paper査読

10 被引用数 (Scopus)

抄録

Manipulators with free joints are second-order non-holonomic systems whose dynamical constraints are nonintegrable. Such systems are known to be under-actuated systems which can be controlled by less actuator than the dimension of the configuration space. Previously proposed methods to control free-joint manipulators have been based on the assumption of perfectly frictionless free joints. In this paper, averaging analysis of 3R manipulators with one actuator clarifies that their frictionless models are Hamiltonian systems with a conservation of an energy-like quantity. From experiments and simulations, 3R free-joint manipulators with friction at the free joints show dissipative behaviors converging to an equilibrium point. A convergence control method using the energy-like quantity to stabilize to the equilibrium point is proposed.

本文言語English
ページ127-132
ページ数6
出版ステータスPublished - 2000 12 1
外部発表はい
イベント2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
継続期間: 2000 10 312000 11 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域Japan
CityTakamatsu
Period00/10/3100/11/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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