TY - JOUR
T1 - Anti-gravity control of free-joint manipulators by vibrational input
AU - Suzuki, Takahiro
PY - 2002/1/1
Y1 - 2002/1/1
N2 - In this paper, free-joint manipulators under gravity potential are to be considered. However those under gravitation are namely pendulum systems, the scope of this paper is to control to a configuration other than the gravitational equilibriums, namely straight up or down. The free-joint manipulators can be dynamically stabilized onto a configuration other than the gravitational equilibriums using the artificial potential produced by vibrational input tot he first joint against gravity. Dynamic behaviors with vibrational inputs are investigated via averaging analysis, and inclined equilibriums other than gravitational ones are clarified. A method to determine the amplitude and frequency of vibrational input to the first joint to realize the desired inclined configuration is formulated. A control method to stabilize the free-joint manipulators onto the desired configuration using sliding mode control is proposed.
AB - In this paper, free-joint manipulators under gravity potential are to be considered. However those under gravitation are namely pendulum systems, the scope of this paper is to control to a configuration other than the gravitational equilibriums, namely straight up or down. The free-joint manipulators can be dynamically stabilized onto a configuration other than the gravitational equilibriums using the artificial potential produced by vibrational input tot he first joint against gravity. Dynamic behaviors with vibrational inputs are investigated via averaging analysis, and inclined equilibriums other than gravitational ones are clarified. A method to determine the amplitude and frequency of vibrational input to the first joint to realize the desired inclined configuration is formulated. A control method to stabilize the free-joint manipulators onto the desired configuration using sliding mode control is proposed.
KW - Free-joint manipulators
KW - Nonholonomic systems
KW - Pendulum
KW - Sliding mode control
KW - Underactuated mechanism
KW - Vibration control
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M3 - Conference article
AN - SCOPUS:0036057723
SN - 1050-4729
VL - 2
SP - 1315
EP - 1320
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2002 IEEE International Conference on Robotics and Automation
Y2 - 11 May 2002 through 15 May 2002
ER -