Experimental Study of an Underactuated Manipulator Table of Contents
نویسندگان
چکیده
Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U-ARM, or UnderActuated Robot Manipulator. In this report, we present the hardware development, dynamic parameters derivation, control software and experimental results of real-time control of U-ARM.
منابع مشابه
Experimental study of an underactuated manipulator
Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental...
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