Feedback control of a three-link planar under-actuated manipulator using a surge velocity
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Authors
Jordan, Pernell A.
Subjects
Lyapunov function
Kinematic approach
Dynamic approach
"surge" velocity
Under-actuated manipulator
Kinematic approach
Dynamic approach
"surge" velocity
Under-actuated manipulator
Advisors
Mukherjee, Ranjan
Date of Issue
1993-09
Date
September 1993
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
An under-actuated robot manipulator is one that has fewer number of joint actuators than the number of degrees of freedom of the manipulator. Such manipulators are studied with the objective of developing smarter mechanical systems; ones that can provide low-cost automation, and enable design simplification. While in space these manipulators can afford to have any kind of mechanical structure, on earth they need to be strictly planar to be feasible. In this paper, we develop a control scheme for a three link planar robot manipulator with two actuators such that it can reach any joint configuration from any other. We assume that the first joint of the robot is passive, and is provided with a brake and a rotary dashpot. We show that our control is robust to the variations in certain parameters and unmodelled dynamics like stiction.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
38 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.