Title :
Analysis and control of 3R underactuated manipulator
Author :
Suzuki, Takahiro ; Kinoshita, Toru ; Gunji, Satoshi
Author_Institution :
IIS, Univ. of Tokyo, Tokyo
Abstract :
In this paper, 3R underactuated manipulator under gravity is to be considered. Dynamical behaviors under vibratory input to the first joint are analyzed via averaging analysis. It is clarified that dynamical stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artificial potential produced by vibratory input against gravity. And a method of shape control is also proposed.
Keywords :
manipulator dynamics; shape control; stability; vibration control; 3R underactuated manipulator; averaging analysis; dynamical stabilization; shape control; vibratory input; Actuators; Casting; Control systems; Elasticity; Gravity; Kinematics; Manipulator dynamics; Robot control; Shape control; Wire; Hyper-Flexible Manipulator; Underactuated Robot; Vibratory Control;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655194
