Reachable and stabilizable area of an underactuated manipulator without state feedback control
Reachable and stabilizable area of an underactuated manipulator without state feedback control
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DOI：
10.1109/tmech.2005.852450
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发表时间：
2005-09
期刊：
影响因子：
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通讯作者：
H. Yabuno;T. Matsuda;N. Aoshima
中科院分区：
文献类型：
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作者：
H. Yabuno;T. Matsuda;N. Aoshima
从理论上和实验上阐明了二连杆欠驱动机械手的可达和稳定区域。该操纵器由连接到执行器的主动（第一）连杆和连接到第一连杆的自由（第二）连杆组成，该自由连杆通过不仅没有执行器而且没有传感器的关节连接。在这种情况下，可以利用在附接到致动器的主动（第一）连杆的高频激励下在自由连杆中产生的分叉的非线性特性来控制第二（自由）连杆的运动，而无需自由连杆的状态反馈。根据分叉理论，理论上表明，自由连杆的稳定平衡状态根据主动连杆相对于重力方向的配置而变化。然后，结合激励频率和主动连杆的构型，从理论上明确了自由连杆尖端能够到达并稳定的一组位置，即可达稳定区域。此外，实验结果表明了理论预测的可达和稳定区域的有效性。
The reachable and stabilizable area of a two-link underactuated manipulator is clarified theoretically and experimentally. The manipulator consists of an active (first) link attached to an actuator and a free (second) link connected to the first link with a joint that lacks not only an actuator but also a sensor. In this circumstance the motion of the second (free) link can be controlled without state feedback of the free link, using the nonlinear characteristics of the bifurcations produced in the free link under the high-frequency excitation of the active (first) link attached to the actuator. It is theoretically shown according to the bifurcation theory that the stable equilibrium states of the free link vary depending on the configuration of the active link with respect to the direction of gravity. Then, the set of positions where the tip of the free link can reach and be stable, i.e., the reachable and stabilizable area, is theoretically clarified under the combination of the excitation frequency and the configuration of the active link. Furthermore, experimental results show the validity of the theoretically predicted reachable and stabilizable area.