Nonlinear control of a planar free link under a nonholonomic constraint

Author

Shiroma, Naoji ; Arai, Hirohiko ; Tanie, Kazuo

Author_Institution

Inst. of Eng. Mech., Tsukuba Univ., Ibaraki, Japan

fYear

1997

fDate

7-9 Jul 1997

Firstpage

103

Lastpage

109

Abstract

Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. A trajectory for positioning is composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Experimental results show the effectiveness of the planned trajectory and the feedback control law

Keywords

feedback; manipulators; nonlinear control systems; stability; feedback control law; manipulator; nonholonomic constraint; nonlinear control; nonlinear feedback; passive joint; percussion centre; planar free link; rotational trajectory segments; second-order nonholonomic dynamic constraint; translational trajectory segments; Actuators; Costs; Energy consumption; Feedback control; Linear approximation; Manipulator dynamics; Mechanical engineering; Robots; Space vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620169

Filename

620169