Point-to-point control of a 2R planar horizontal underactuated manipulator
نویسندگان
چکیده
منابع مشابه
Point-to-point control of a 2R planar horizontal underactuated manipulator
This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move the end-effector from a given position to a target point. The methodology involves two stages. In...
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We describe a technique for the stabilization of a 2R robot moving in the horizontal plane with a single actuator at the base, an interesting example of underactuated mechanical system that is not smoothly stabilizable. The proposed method is based on a recently introduced iterative steering paradigm, which prescribes the repeated application of an error contracting open-loop control law. In or...
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Controlling an underactuated manipulator with less actuators than degrees of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents two controllers for the set point regulation of 2-DOF underactuated manipulators. The first one is a cascade sl...
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This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately boun...
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In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. Here a path planning methodology satisfying this requirement is developed...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2006
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2005.10.013