Reachable and stabilizable area of an underactuated manipulator without state feedback control

In this paper, we investigate the reachable and stabilizable area of the tip of an underactuated manipulator (the first joint has an actuator and the second joint has no actuator), which is movable in a vertical plane. In the previous research, we proposed the open-loop control method (which is usin...

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Bibliographic Details
Published inThe 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04 pp. 369 - 374
Main Authors Matsuda, T., Yabuno, H., Aoshima, N.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Actuators
Analytical models
Applied sciences
Bifurcation
Computer science; control theory; systems
Control systems
Control theory. Systems
Equations
Exact sciences and technology
Frequency
Gravity
Manipulators
Robotics
State feedback
Systems engineering and theory
Closed feedback
State feedback
Underactuation
Feedback regulation
High frequency
Motion control
Actuator
Open feedback
Manipulator
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Summary:In this paper, we investigate the reachable and stabilizable area of the tip of an underactuated manipulator (the first joint has an actuator and the second joint has no actuator), which is movable in a vertical plane. In the previous research, we proposed the open-loop control method (which is using the bifurcation phenomena occurred in the second link by high-frequency excitation of the active link sinusoidally) for the underactuated manipulator in order to swing up and stabilize at the upright position of its unactuated link. Applying the method more globally, we realize many configurations of the manipulator without state feedback. The reachable and stabilizable positions of the tip of the underactuated link are theoretically shown. Furthermore, the validity of the theoretical results are experimentally confirmed.
ISBN:0780383001
9780780383005
DOI:10.1109/AMC.2004.1297897