منابع مشابه
Control 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...
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The averaging method is one of the most powerful methods used to analyse differential equations appearing in the study of nonlinear problems. The idea behind the averaging method is to replace the original equation by an averaged equation with simple structure and close solutions. A large number of practical problems leads to differential equations with discontinuous right-hand sides. In a rigo...
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Control of underactuated mechanisms is one of major research topics in control engineering and robotics. A manipulator with free joints is one of such the systems and its control is di cult via ordinary nonlinear control methods. In this paper, we discuss control of free-joint manipulators whose rst joint is only actuated and the others are free joints. We apply the averaging method to analysis...
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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 and 3R free-joint manipulators and show that each system has invariant manifolds ...
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ژورنال
عنوان ژورنال: Journal of Mathematical Analysis and Applications
سال: 2009
ISSN: 0022-247X
DOI: 10.1016/j.jmaa.2008.10.029