Path Tracking Control of a Manipulator with Passive Joints
نویسندگان
چکیده
منابع مشابه
Dynamic control of a manipulator with passive joints-position control experiments by a prototype manipulator
The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degre...
متن کاملSliding Mode Control for a Robot Manipulator with Passive Joints
In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...
متن کاملStabilization of a Flexible Manipulator Model with Passive Joints
To describe the dynamic behavior of a fire rescue turntable ladder the flexibility of the ladder set has to be analyzed. It turned out, that it can be modelled as a flexible manipulator consisting of an arbitrary number of links governed by the Euler-Bernoulli beam equation. The first link is fixed at one end and is driven by a control torque. The last link carries a payload. A peculiarity of t...
متن کاملPath Tracking Control Of A Manipulator Considering Torque Saturation
When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator’s dynamics and actuator’s torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppres...
متن کاملDynamic control of a manipulator with passive joints in operational space
We present a method to control a manipulator with passive joints, which have no actuators, in operational space. The equation of motion is described in terms of operational coordinates. The coordinates are separated into active and passive components. The acceleration of the active components can be arbitrarily adjusted by using the coupling characteristics of manipulator dynamics. This method ...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1991
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.27.800