COMPUTED TORQUE CONTROL METHOD FOR UNDER-ACTUATED MANIPULATOR

被引：0
作者：
Zelei, Ambrus [1 ]
Kovacs, Laszlo L.
Stepan, Gabor [1 ]
机构：
[1] Budapest Univ Technol & Econ, Dept Appl Mech, H-1117 Budapest, Hungary
来源：
PROCEEDINGS OF ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 4, PTS A-C | 2010年
关键词：
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The paper presents the dynamic analysis of a crane-like manipulator system equipped with complementary cables and ducted fan actuators. The investigated under-actuated mechanical system is described by a system of differential-algebraic equations. The position/orientation control problem is investigated with respect to the trajectory generation and the fine positioning of the payload. The closed form results include the desired actuator forces as well as the nominal load angle corresponding to the desired motion of the payload. Considering a PD controller, numerical simulation results and also experiments demonstrate the applicability of the concept of using complementary actuators for controlling the swinging motion of the payload.
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页码：523 / 528
页数：6
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