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

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


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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    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
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    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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