NDLI: Energy based Swing-up Control for a 3-Link Robot with Passive Last Joint: Design and Analysis

Content Provider	IEEE Xplore Digital Library
Author	Xin Xin Kaneda, M. Yamasaki, T. She, J.-H.
Copyright Year	2006
Description	Author affiliation: Dept. of Commun. Eng., Okayama Prefectural Univ. (Xin Xin; Kaneda, M.; Yamasaki, T.)
Abstract	This paper addresses a swing-up control problem for a 3-link underactuated robot in the vertical plane, whose first and second joints are active (actuated) and the third (last) joint is passive (unactuated). The objectives of this paper are: 1) to design a control law under which the robot can be brought to any arbitrarily small neighborhood of the upright (up-up-up) equilibrium point, where all three links remain in their upright positions; 2) to attain a global analysis of the motion of the robot under the control law. By designing a coordinate transformation on the actuated joint variables of joints 1 and 2 and constructing a new Lyapunov function based on the transformation, this paper proposes an energy based swing-up control law. For any initial state of the robot, this paper provides a necessary and sufficient condition for non-existence of any singular point in the control law for all future time, and shows how to choose the control parameters such that the state of the robot eventually approach either any arbitrarily small neighborhood of the upright equilibrium point, or the up-up-down equilibrium point, where the links 1, 2 and 3 are in upright, upright and downward positions, respectively. Moreover, this paper shows that the up-up-down equilibrium point is unstable
Starting Page	1817
Ending Page	1822
File Size	5745511
Page Count	6
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315718
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Robot kinematics Control systems Mechanical systems Motion analysis Lyapunov method Communication system control Motion control Robot control Feedback Design engineering the Lyapunov stability theory underactuated mechanical systems 3-link robot swing-up control energy based control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis

Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis

Design and analysis of swing-up control for a 3-link gymnastic robot with passive first joint

Swing-up and stabilizing control for two-link underactuated robot with flexible elbow joint

Design and Analysis of Swing-up Control for a 3-Link Gymnastic Robot with Passive First Joint

Swing-up control for n-link planar robot with single passive joint using the notion of virtual composite links

Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint

Swing-up Control for n-Link Planar Robot with Single Passive Joint Using the Notion of Virtual Composite Links

Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control

Energy based Swing-up Control for a 3-Link Robot with Passive Last Joint: Design and Analysis

Similar Documents

Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis

Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis

Design and analysis of swing-up control for a 3-link gymnastic robot with passive first joint

Swing-up and stabilizing control for two-link underactuated robot with flexible elbow joint

Design and Analysis of Swing-up Control for a 3-Link Gymnastic Robot with Passive First Joint

Swing-up control for n-link planar robot with single passive joint using the notion of virtual composite links

Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint

Swing-up Control for n-Link Planar Robot with Single Passive Joint Using the Notion of Virtual Composite Links

Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control

Energy based Swing-up Control for a 3-Link Robot with Passive Last Joint: Design and Analysis