Under-Actuated Robot Systems: Dynamic Interaction and Adaptive Control
نویسنده
چکیده
An under-actuated robot mlllipulator is a serial mechanism, in which the number of p i n t s is greater than the number of actuators. Making use of the dynamic interaction between the passive joiats and actuated joints, the robot can provide dairable motion and f o r c a dynamically. In comparison to a fully actuated robot, the mndu-actuated system will be more compact in size and lomr weighted due to less a c t u s ton, and more efficient due to less energy consumption. In this paper, we intend to answer the following two questions: (1) What ia the dynamic coupling of the system and how to control the system by using its dynamic coupling? (2) When the dynamic puameten u e uncertrin/unknown in practice, and kinematics relationship is thus not accurate, what adaptive control scheme is feasible for thia nonlinear system where linear puuneterization docs not hold and lintu structured adaptive control scheme is not d i d ?
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