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Dynamic control of underactuated manipulators with free-swinging passive joints in Cartesian space

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2 Author(s)
Jin-Ho Shin ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Ju-Jang Lee

A feedback linearizing decoupling dynamic control scheme of nonholonomic underactuated manipulators with free-swinging passive joints is proposed in Cartesian space where the task is planned. The presented control scheme does not require any braking process of passive joints. The presented dynamic control scheme has so-called “dynamic singularities” in the controller. Therefore, the singularities must be avoided an the path planning so as to guarantee the availability of the control scheme. Singularity-free desired paths in Cartesian space avoiding the dynamic singularities are obtained through a computer simulation. Simulation results for a three-link planar manipulator with one passive joint are presented to show the feasibility of the proposed control scheme with the singularity-free desired trajectory

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997