Nonlinear behavior and control of a nonholonomic free-joint manipulator

Author

Nakamura, Y. ; Suzuki, T. ; Koinuma, M.

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ., Japan

Volume

13

Issue

6

fYear

1997

fDate

12/1/1997 12:00:00 AM

Firstpage

853

Lastpage

862

Abstract

The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. Underactuated mechanical systems are often subject to so-called nonholonomic constraints which are related to many both theoretical and practical issues. We first analyze the nonlinear behavior of a two-joint planar manipulator with the second joint free, from nonlinear dynamics point of view. We then discuss the simultaneous positioning of both joints. We use a time-periodic input and propose an amplitude modulation of the feedback error. The analysis via the Poincare map shows that the behavior becomes chaotic with large amplitude. The effectiveness of the proposed positioning control is verified by experiments

Keywords

Poincare mapping; amplitude modulation; feedback; manipulator dynamics; nonlinear control systems; periodic control; Poincare map; amplitude modulation; feedback error; nonholonomic constraints; nonholonomic free-joint manipulator; nonlinear behavior; nonlinear control; nonlinear dynamics; nonlinear motion; time-periodic input; two-joint planar manipulator; underactuated mechanisms; Amplitude modulation; Chaos; Constraint theory; Control systems; Controllability; Feedback; Manipulator dynamics; Mechanical systems; Orbital robotics; Robot kinematics;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.650164

Filename

650164