Modeling and Control of a 3-DOF pendulum-like manipulator

Author

Zanotto, Damiano ; Rosati, Giulio ; Agrawal, Sunil K.

Author_Institution

Dept. of Innovation in Mech. & Manage. (DIMEG), Univ. of Padua, Padua, Italy

fYear

2011

fDate

9-13 May 2011

Firstpage

3964

Lastpage

3969

Abstract

This work deals with the kinematic and dynamic modeling of a 3-DOF, under-actuated, pendulum-like manipulator and its control system. The cable-based device is capable of completing point-to-point planar motions, driving the end-effector from a starting pose to a goal pose, by means of two actuators only. The device relies on parametric excitation to control the oscillations of the variable-length pendulum. Unlike a previous work, the dynamic model introduced here is consistent with the assumption of cable-based device. Several control strategies are compared through numerical simulations.

Keywords

end effectors; manipulator dynamics; manipulator kinematics; motion control; numerical analysis; oscillations; vibration control; 3-DOF pendulum-like manipulator; cable-based device; control system; dynamic modeling; end-effector; kinematic modeling; numerical simulation; oscillation control; parametric excitation; point-to-point planar motion; pose; under-actuated manipulator; variable-length pendulum; Equations; Joints; Mathematical model; Oscillators; Pulleys; Robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980198

Filename

5980198