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Motion Control of an Underactuated Manipulator by Using High-Frequency Excitation

  • Hiroshi Yabuno
  • Kazukuni Goto
  • Nobuharu Aoshima
Conference paper
  • 1.2k Downloads
Part of the Solid Mechanics and its Applications book series (SMIA, volume 122)

Abstract

A technique without state feedback is proposed for swing-up and stabilization at the upright position of the free link in a two-link underactuated manipulator (the first and second links are active and passive, respectively). The objectives are accomplished by actuating the perturbation of bifurcations produced in the second link under high-frequency excitation for the first link. Experimental results confirm the validity of the proposed method for the underactuated manipulator.

Key words

Underactuated manipulator high-frequency excitation pitchfork bifurcation perturbation of bifurcation bifurcation control 

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References

  1. [1]
    H. Arai, K. Tanie and N. Shiroma, “Nonholonomic control of a three-DOF planar underactuated manipulator,” IEEE Trans. Robot. Auto., Vol. 14, pp. 681–695, Oct. 1998.CrossRefGoogle Scholar
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    A. H. Nayfeh and D. T. Mook, Nonlinear Oscillations, New York: Wiley, 1979.Google Scholar
  3. [3]
    H. Yabuno, M. Miura and N. Aoshima, “Bifurcation in an inverted pendulum with tilted high-frequency excitation,” Journal of Sound and Vibration, 2004, in press.Google Scholar
  4. [4]
    H. Yabuno, K. Goto and N. Aoshima, “Swing-up and stabilization of an underactuated manipulator without state feedback of free joint,” IEEE Trans of Robotics and Automation, 2004, in press.Google Scholar

Copyright information

© Springer 2005

Authors and Affiliations

  • Hiroshi Yabuno
    • 1
  • Kazukuni Goto
    • 2
  • Nobuharu Aoshima
    • 1
  1. 1.Institute of Engineering Mechanics and SystemsUniversity of TsukubaTsukubaJapan
  2. 2.Fuji Heavy Industry LTDOhizumi, GunnmaJapan

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