Title :
Swing-up and stabilization of an underactuated manipulator without state feedback of free joint
Author :
Yabuno, Hiroshi ; Goto, Kazukuni ; Aoshima, Nobuharu
Author_Institution :
Inst. of Eng. Mech. & Syst., Univ. of Tsukuba, Japan
fDate :
4/1/2004 12:00:00 AM
Abstract :
A technique without state feedback of the free link is theoretically and experimentally proposed for the swing-up and the stabilization at the upright position of the free link in a two-link underactuated manipulator. An appropriate actuation of the bifurcations produced in the free link realizes the control objectives.
Keywords :
actuators; bifurcation; manipulators; stability; dynamic stabilization; free link; high-frequency excitation; pitch fork bifurcation; two link underactuated manipulator; Actuators; Bifurcation; Control systems; Costs; Energy consumption; Equations; Gravity; Manipulator dynamics; Motion control; State feedback;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2004.824692
