TY - GEN
T1 - Analysis and control of 3R underactuated manipulator
AU - Suzuki, Takahiro
AU - Kinoshita, Toru
AU - Gunji, Satoshi
PY - 2008
Y1 - 2008
N2 - In this paper, 3R underactuated Manipulator under gravity is to be considered. Dynamical behaviors under vibratory input to the first joint are analyzed via averaging analysis. It is clarified that dynamical stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artifical potential prodused by vibratory input against gravity. And a method of shape control is also proposed.
AB - In this paper, 3R underactuated Manipulator under gravity is to be considered. Dynamical behaviors under vibratory input to the first joint are analyzed via averaging analysis. It is clarified that dynamical stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artifical potential prodused by vibratory input against gravity. And a method of shape control is also proposed.
KW - Hyper-flexible manipulator
KW - Underactuated robot
KW - Vibratory control
UR - http://www.scopus.com/inward/record.url?scp=56849126632&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56849126632&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655194
DO - 10.1109/SICE.2008.4655194
M3 - Conference contribution
AN - SCOPUS:56849126632
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 3086
EP - 3091
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -