POSITION CONTROL OF A MANIPULATOR WITH PASSIVE JOINTS USING DYNAMIC COUPLING

被引：142
作者：
ARAI, H
TACHI, S
机构：
[1] Robotics Department, Mechanical Engineering Laboratory, AIST, MITI, Tsukuba, Ibaraki, 305
[2] Robotics Department, Mechanical Engineering Laboratory, AIST, MITI, Research Center for Advanced Science and Technology, University of Tokyo, Meguro-ku, Tokyo, 153
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1991年 / 7卷 / 04期
关键词：
D O I：
10.1109/70.86082
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a method of controlling the position of a manipulator composed of active and passive joints. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While the brakes are engaged, the passive joints are fixed and the active joints are controlled. The position of the manipulator is controlled by combining these two control modes. This paper describes the basic principle of the control method and the conditions that ensure the controllability of the passive joints. An algorithm for point-to-point control of the manipulator is also presented. The feasibility of the method is demonstrated by simulations for a manipulator with two degrees of freedom.
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页码：528 / 534
页数：7
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