Control of Nonholonomic Free-Joint Manipulators.
نویسندگان
چکیده
منابع مشابه
Control of nonholonomic free-joint manipulators with one actuator
Manipulators with free joints are second-order nonholonomic systems whose dynamical constraints are nonintegrable. Such systems are known to be underactuated systems which can be controlled by less actuator than the dimension of the configuration space. Previously proposed methods to control free-joint manipulators have been based on the assumption of perfectly frictionless free joints. In this...
متن کاملChaos and nonlinear control of a nonholonomic free-joint manipulator
Nonholonomic system is now one of major topics in robotics. In this paper, we discuss the nonlinear behavior of a two-joint planer manipulator with the second joint free for time-periodic inputs. First, we illustrate that when the amplitude remains small, the Poincar e map of the system follows an ellipse-like closed path and it becomes chaotic with large amplitude. We, then, propose a control ...
متن کاملNonlinear behavior and control of a nonholonomic free-joint manipulator
The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. The nonlinearity is often referred to as nonholonomy and related to many both theoretical and practical issues. In this paper, we rst analyze the nonlinear behavior of a two-joint planer manipulator with the second joint free from nonlinear dynamics point of view. We then discuss the simultaneous positio...
متن کاملTrajectory Tracking Control for Nonholonomic Mobile Manipulators
In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...
متن کاملControl of 2R Free-Joint Manipulators via the Averaging Method
A manipulator with free joints is a class of underactuated mechanisms. Control of such systems is one of major topics in robotics and control engineering. In this paper, we apply the averaging method to manipulators connected by free joints and describe their behaviors in response to periodic inputs. We analyze 2R free-joint manipulators and show that the systems have invariant manifolds de ned...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2001
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.19.499