Optimal control sequence for underactuated manipulators
نویسندگان
چکیده
In this paper, we consider the problem of controlling an underactuated manipulator with less actuators than passive joints. The control methodology consists of dividing the passive joints in several groups, and of controlling one group at a time via its dynamic coupling with the actuators. Among the many possible control sequences for a given robot, we choose the optimal one based on the dynamic programming method. The optimization is based on a control cost defined as the reciprocal of the coupling index, a measure of the dynamic coupling available between the active and the passive joints of the manipulator. The detailed theory, computational procedures, simulation results, and experimental results are presented.
منابع مشابه
Carnegie Mellon University Dynamics and Control of Underactuated Manipulators
ivThe class of underactuated systems is composed of a variety of mechanical as well asbiological systems. The term underactuation refers to the fact that not all joints or degrees-of-freedom (DOFs) of the system are equipped with actuators, or are directly controllable.The DOFs of an underactuated system are dynamically coupled, and their dynamicequations are nonlinear and a...
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