240 非駆動関節を有する3リンク剛体アームの軌道制御(ロボットの制御II)(OS ロボットの制御)

概要

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This paper develops an approach for the control of the motion of a multiple-link manipulator possessing unactuated joints. A three-rigid-link arm with its shoulder joint actuated and two elbow joints unactuated is modeled as a nonlinear Affine system. The system is a case of second-order nonholonomy since the constraints at the passive joints contain terms of accelerations. In the proposed method to solve the problem of optimal positioning the control input is expressed as a general function of a Fourier basis parameter acquired by using the Ritz method; then this parameter is optimized through the application of the Newton method. Numerical simulations were carried out and tests with an experimental setting demonstrate the effectiveness of the approach.
一般社団法人日本機械学会の論文
2001-04-20