By Topic

Position control of manipulator with passive joints using dynamic coupling

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Arai, H. ; Mech. Eng. Lab., MITI, Ibaraki, Japan ; Tachi, S.

A method of controlling the position of a manipulator composed of active and passive joints is described. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While the brakes are engaged, the passive joints are fixed and the active joints are controlled. The position of the manipulator is controlled by combining these two control modes. The basic principle of the control method and the conditions that ensure the controllability of the passive joints are described. An algorithm for point-to-point control of the manipulator is presented. The feasibility of the method is demonstrated by simulations for a manipulator with two degrees of freedom

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 4 )