Analysis and Control of 3R Underactuated Manipulator

被引：0
|
作者：
Suzuki, Takahiro [1 ]
Kinoshita, Toru [1 ]
Gunji, Satoshi [1 ]
机构：
[1] Univ Tokyo, IIS, Meguro Ku, Tokyo, Japan
来源：
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7 | 2008年
关键词：
Hyper-Flexible Manipulator; Vibratory Control; Underactuated Robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 artifical potential prodused by vibratory input against gravity. And a method of shape control is also proposed.
引用
收藏
页码：2970 / 2975
页数：6
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