Nonholonomic control of a three-DOF planar underactuated manipulator

Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is shown to be second-order nonholonomic. C...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation 1998-10, Vol.14 (5), p.681-695
Main Authors: Arai, H., Tanie, K., Shiroma, N.
Format: Article
Language:English
Subjects:
Acceleration
Actuators
Controllability
Differential equations
Feedback control
Manipulator dynamics
Mechanical engineering
Mechanical systems
Motion control
Robot kinematics
Robots
Torque
Vehicle dynamics
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Summary:Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is shown to be second-order nonholonomic. Controllability of the system is proved by constructing examples of the input trajectories from arbitrary initial states to arbitrary desired states, considering the motion of the center of percussion of the link. Trajectories for positioning are composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback control. Simulations and experimental results show the effectiveness of the planned trajectory and the feedback control law.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.720345