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タイトル: Position Control of a Manipulator with Passive Joints Using Dynamic Coupling
著者: Arai, Hirohiko
Tachi, Susumu
発行日: 1991年8月
出版者: IEEE
掲載誌情報: IEEE transactions on robotics and automation. vol. 7, no. 4, 1991.8, pp. 528-534
抄録: This paper describes a method ofcontrolling 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 activejoints 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.
URI: http://hdl.handle.net/2261/6851
ISSN: 1042296X
出現カテゴリ:14010 学術雑誌論文
015 技術・工学


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