Swing-up and stabilization of an underactuated manipulator without state feedback of free joint

A technique without state feedback of the free link is theoretically and experimentally proposed for the swing-up and the stabilization at the upright position of the free link in a two-link underactuated manipulator. An appropriate actuation of the bifurcations produced in the free link realizes th...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation 2004-04, Vol.20 (2), p.359-365
Main Authors: Yabuno, H., Goto, K., Aoshima, N.
Format: Article
Language:English
Subjects:
Actuators
Applied sciences
Automation
Bifurcation
Bifurcations
Computer science
control theory
systems
Control systems
Control theory. Systems
Costs
Energy consumption
Equations
Exact sciences and technology
Feedback control systems
Gravity
Links
Manipulator dynamics
Manipulators
Motion control
Robot arms
Robotics
Stabilization
State feedback
Systems stability
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Summary:A technique without state feedback of the free link is theoretically and experimentally proposed for the swing-up and the stabilization at the upright position of the free link in a two-link underactuated manipulator. An appropriate actuation of the bifurcations produced in the free link realizes the control objectives.
ISSN:1042-296X
2374-958X
DOI:10.1109/TRA.2004.824692