Gyrobot: Control of multiple degree of freedom underactuated mechanisms using a gyrating link and cyclic braking

被引：7
作者：
Gilbert, James M. [1 ]
机构：
[1] Univ Hull, Dept Engn, Kingston Upon Hull HU6 7RX, N Humberside, England
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2007年 / 23卷 / 04期
关键词：
nonholonomic; space robots; switching systems; underactuated systems; variable structure systems;
D O I：
10.1109/TRO.2007.900632
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A novel control strategy is introduced in which a multiple degree of freedom passive joint mechanism is augmented with a single continuously gyrating link. The gyrating link introduces coupling torques to the remaining joints, and the effect of these torques is controlled by cyclically applying holding brakes mounted on the passive joints. This allows position and trajectory control of the mechanism.
引用
收藏
页码：822 / 827
页数：6
相关论文
共 18 条
  • [1] Nonholonomic control of a three-DOF planar underactuated manipulator
    Arai, H
    Tanie, K
    Shiroma, N
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (05): : 681 - 695
  • [2] POSITION CONTROL-SYSTEM OF A 2-DEGREE OF FREEDOM MANIPULATOR WITH A PASSIVE JOINT
    ARAI, H
    TACHI, S
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1991, 38 (01) : 15 - 20
  • [3] DYNAMIC CONTROL OF A MANIPULATOR WITH PASSIVE JOINTS IN OPERATIONAL SPACE
    ARAI, H
    TANIE, K
    TACHI, S
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (01): : 85 - 93
  • [4] Bergerman M, 1998, J ROBOTIC SYST, V15, P115, DOI 10.1002/(SICI)1097-4563(199803)15:3<115::AID-ROB1>3.0.CO
  • [5] 2-T
  • [6] KOLMANOVSKY, 1995, IEEE CONTROL SYST, V15, P20
  • [7] LAZORCHAK ED, 1993, Patent No. 5185542
  • [8] Fuzzy control of an underactuated robot with a fuzzy microcontroller
    Muscato, G
    [J]. MICROPROCESSORS AND MICROSYSTEMS, 1999, 23 (06) : 385 - 391
  • [9] Nonlinear behavior and control of a nonholonomic free-joint manipulator
    Nakamura, Y
    Suzuki, T
    Koinuma, M
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1997, 13 (06): : 853 - 862
  • [10] OLDAKER RS, 1997, THESIS U HULL HULL
12