Controllability of a 3-DOF manipulator with a passive joint under a nonholonomic constraint
Controllability of a 3-DOF manipulator with a passive joint under a nonholonomic constraint
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非完整约束下被动关节三自由度机械臂的可控性
DOI：
10.1109/robot.1996.509278
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
H. Arai
中科院分区：
文献类型：
--
作者：
H. Arai
研究了具有被动关节的机械臂的能控性，该关节既无驱动器也无制动器。机械手在水平面内有3个自由度，第三个关节是被动的。第三杆的动力学约束是二阶非完整约束。通过构造从任意初始状态到任意期望状态的输入轨迹的例子，证明了系统的可控性。证明是直观易懂的，并且输入的构造直接导致轨迹规划。仿真结果表明，通过构造的输入，机械手可以达到期望的位置和速度。
Controllability of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has 3 degrees of freedom in a horizontal plane and the third joint is passive. The dynamic constraint on the third link is 2nd-order nonholonomic. The controllability is proved by constructing examples of the input trajectories from arbitrary initial slates to arbitrary desired slates. The proof is intuitively understandable, and the construction of the input directly leads to the trajectory planning. Simulations show that the manipulator can reach the desired position and velocity by the constructed input.