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Position Control of an Under-Actuated Manipulator Under Gravity Effect
715 重力の影響を受ける劣駆動マニピュレータの位置制御
2002
The Proceedings of Conference of Kanto Branch
715 重力の影響を受ける劣駆動マニピュレータの位置制御
Preserved Fulltext
III this paper , we propose an position co ロtrol method for a two − joint manipulator with the second jo 量 nt free under gravitationaL effect , The con 七 rol object is to swing the free joint from the gravitational direction to the opposite position . The position control is carried out by using a high frequellcy excitation of the fUst joint without the feedback of the relative angle betwee ロ the first and second links . Experimental results confirm the validity of the proposed control method for the under actuated manipulator 、
doi:10.1299/jsmekanto.2002.8.205
fatcat:m5yeuqcjfra7pay62rj3vw3ivu