Title :
Dynamics and robust control of underactuated manipulators
Author :
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
A robust control scheme of underactuated manipulators using brakes at passive joints is presented to overcome actuator failures and uncertainties. The proposed control scheme has two control stages, that is, the passive joint control stage and the active joint control stage. Note that all passive joints are locked by their own brakes as soon as they reach their desired set-points with zero velocity. To illustrate the feasibility and validity of the proposed control scheme, simulation results for a three-link planar robot arm with a passive joint are presented
Keywords :
actuators; brakes; manipulator dynamics; robust control; active joint control; actuator failures; brakes; passive joints; three-link planar robot arm; uncertainties; underactuated manipulators; Actuators; Manipulator dynamics; Mobile communication; Mobile robots; Orbital robotics; Redundancy; Robust control; Torque control; Transmission line matrix methods; Uncertainty;
Conference_Titel :
SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers
Conference_Location :
Chiba
DOI :
10.1109/SICE.1998.742927
