NDLI: Feedback control of a planar manipulator with an unactuated elastically mounted end effector

Content Provider	IEEE Xplore Digital Library
Author	Reyhanoglu, M. Cho, S. McClamroch, N.H.
Copyright Year	1999
Description	Author affiliation: Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA (Reyhanoglu, M.)
Abstract	We study feedback control laws that can stabilize an equilibrium position of an underactuated planar PPR robot manipulator. The manipulator operates in a horizontal plane, and it consists of two actuated prismatic links, an actuated revolute link, and an unactuated end effector that is elastically mounted on the third link. The fact that the end effector is unactuated and is elastically mounted on the manipulator, and thus can be controlled only through coupling with the manipulator dynamics, provides a major obstacle to control design for this problem. The control objective is to design a feedback controller that can achieve arbitrary positioning and arbitrary attitude of the end effector while suppressing any motion of the end effector relative to the third link. A nonlinear control model is constructed for this underactuated manipulator and a time-invariant discontinuous feedback law is constructed that achieves the objectives with exponential convergence rates. The effectiveness of the proposed feedback law is illustrated through simulations.
Starting Page	2805
Ending Page	2810
File Size	520215
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.774022
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback control End effectors Manipulator dynamics Nonlinear control systems Control systems Robot kinematics Mechanical systems Motion control Convergence Control theory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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