Nonlinear behavior and control of a nonholonomic free-joint manipulator

The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. Underactuated mechanical systems are often subject to so-called nonholonomic constraints which are related to many both theoretical and practical issues. We first analyze the nonlinear behavior of a two-joint...

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Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 13; no. 6; pp. 853 - 862
Main Authors Nakamura, Y., Suzuki, T., Koinuma, M.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.1997
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Amplitude modulation
Automation
Chaos
Constraint theory
Control systems
Controllability
Feedback
Manipulator dynamics
Mechanical systems
Motion control
Orbital robotics
Robot kinematics
Robots
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Summary:The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. Underactuated mechanical systems are often subject to so-called nonholonomic constraints which are related to many both theoretical and practical issues. We first analyze the nonlinear behavior of a two-joint planar manipulator with the second joint free, from nonlinear dynamics point of view. We then discuss the simultaneous positioning of both joints. We use a time-periodic input and propose an amplitude modulation of the feedback error. The analysis via the Poincare map shows that the behavior becomes chaotic with large amplitude. The effectiveness of the proposed positioning control is verified by experiments.
Bibliography:SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 14
ISSN:1042-296X
2374-958X
DOI:10.1109/70.650164