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
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