POSITION CONTROL-SYSTEM OF A 2-DEGREE OF FREEDOM MANIPULATOR WITH A PASSIVE JOINT

被引：18

作者：

ARAI, H

TACHI, S

机构：

[1] Robotics Department, Mechanical Engineering Laboratory Ministry of International Trade and Industry, Tsukuba

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1991年 / 38卷 / 01期

关键词：

D O I：

10.1109/41.103478

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The authors propose a method of controlling the position of a manipulator with passive joints that have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two-degree-of-freedom (dof), horizontally articulated manipulator. The first axis is an active joint, and the second axis is a passive joint. While the brake of the passive joint is released, the passive joint is indirectly controlled by the motion of the active joint through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, total position of the manipulator is controlled. The experiments show that the precise positioning of the passive joint is feasible by use of the proposed method.

引用

页码：15 / 20

页数：6

共 7 条

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