Point-to-point control of a 2R planar horizontal underactuated manipulator
Point-to-point control of a 2R planar horizontal underactuated manipulator
This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move the end-effector from a given position to a target point. The methodology involves two stages. In the first stage a finite-time controller is used to move the passive link to its desired position. In the second stage, the first link is moved to its desired position keeping the second link at rest, using friction as a “brake” and subject to the constraint that the cross-coupling torque acting on the second joint does not exceed the static friction.
Underactuated, Nonholonomic, Controllability, Point-to-point control
838-844
Mahindrikar, Arun
38b235e6-b969-402e-941f-1feb874d8629
Rao, Shodhan
872c35fb-5276-4f32-8236-0efc423d962e
Banavar, Ravi
2ef81344-47fa-4c2c-84ca-149cf568b6eb
July 2006
Mahindrikar, Arun
38b235e6-b969-402e-941f-1feb874d8629
Rao, Shodhan
872c35fb-5276-4f32-8236-0efc423d962e
Banavar, Ravi
2ef81344-47fa-4c2c-84ca-149cf568b6eb
Mahindrikar, Arun, Rao, Shodhan and Banavar, Ravi
(2006)
Point-to-point control of a 2R planar horizontal underactuated manipulator.
Mechanism and Machine Theory, 41 (7), .
Abstract
This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move the end-effector from a given position to a target point. The methodology involves two stages. In the first stage a finite-time controller is used to move the passive link to its desired position. In the second stage, the first link is moved to its desired position keeping the second link at rest, using friction as a “brake” and subject to the constraint that the cross-coupling torque acting on the second joint does not exceed the static friction.
More information
Published date: July 2006
Keywords:
Underactuated, Nonholonomic, Controllability, Point-to-point control
Organisations:
Electronics & Computer Science
Identifiers
Local EPrints ID: 264592
URI: http://eprints.soton.ac.uk/id/eprint/264592
PURE UUID: 4888830d-28a4-4b7b-aee3-703d7bab479a
Catalogue record
Date deposited: 26 Sep 2007
Last modified: 14 Mar 2024 07:53
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Contributors
Author:
Arun Mahindrikar
Author:
Shodhan Rao
Author:
Ravi Banavar
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