General formulation for under-actuated manipulators

研究成果: Paper査読

21 被引用数 (Scopus)

抄録

Under-actuated and macro-mini manipulators represent common characteristics in dynamics. This paper introduces a general formulation of kinematics and dynamics for manipulator systems which are composed of two types generalized coordinate, active and passive, or primary and secondary. The Generalized Jacobian Matrix and the Generalized Inertia Tensor, originally proposed for free-floating space manipulators, are shown to be redefined for general under-actuated manipulator systems. The Reaction Null-Space and reactionless motion which are recently studied focusing to flexible-base manipulators, the compensability which is originally discussed for flexible-arm manipulators, and the measure of dynamic coupling, are proposed as examples of common properties for general under-actuated systems.

本文言語English
ページ1651-1657
ページ数7
出版ステータスPublished - 1997 12月 1
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
継続期間: 1998 9月 71998 9月 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

ASJC Scopus subject areas

  • 制御およびシステム工学

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