Access Restriction

Author Suzuki, Takahiro ♦ Nakamura, Yoshihiko
Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Underactuated Mechanism ♦ Averaging Method ♦ Free-joint Manipulator ♦ Free Joint ♦ First Joint ♦ Control Input ♦ Periodic Motion ♦ Time-invariant Manifold ♦ Control Method ♦ Computer Simulation ♦ Control Engineering ♦ Major Research Topic ♦ Introduction Underactuated Mechanism ♦ Ordinary Nonlinear Control Method ♦ Averaged System ♦ Averaged Motion
Abstract Control of underactuated mechanisms is one of major research topics in control engineering and robotics. A manipulator with free joints is one of such the systems and its control is difficult via ordinary nonlinear control methods. In this paper, we discuss control of free-joint manipulators whose first joint is only actuated and the others are free joints. We apply the averaging method to analysis of their behaviors in response to periodic motion of the first joint. We reveal an invariability of the averaged motion independent of the input-amplitude. We identify time-invariant manifolds of 2R and 3R free-joint manipulators and define the Hamiltonians of their averaged system. We propose a control method by amplitudemodulation to feedback the Hamiltonian. The method enables us to position the both joints of 2R free-joint manipulator. The effectiveness of the method is verified by computer simulations. 1 Introduction Underactuated mechanism is a system whose number of control inputs is...
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study