Position control of a torque-unit manipulator in consideration of all state variables

Author

Yoshida, Koji ; Onoda, Ryuji ; Kawabata, Hiroaki

Author_Institution

Dept. of Syst. Eng., Okayama Prefectural Univ., Japan

Volume

4

fYear

2001

fDate

2001

Firstpage

1900

Abstract

A new design concept of manipulator is proposed, which is called the torque-unit manipulator (TUM). Each joint of the TUM is free and a device which is called "torque unit" is equipped on each link of the TUM. The position-controllability of TUM is shown with a conventional control law. However, with the conventional method some of the state variables cannot be controlled. In this paper, a scheme is given to overcome the problem. The scheme involves generating trajectories for the links of TUM and using the trajectories as the desired ones in position-control. Simulation results with the scheme are shown

Keywords

angular velocity control; control system synthesis; controllability; manipulator kinematics; optimisation; position control; angular velocity control; controllability; joint angles; open-loop kinematic chain; optimization; position control; torque-unit manipulator; trajectory generation; Angular velocity; Design engineering; Kinematics; Manipulator dynamics; Modeling; Pneumatic actuators; Position control; Shafts; Systems engineering and theory; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976351

Filename

976351