scientific article; zbMATH DE number 1187495

MaRDI QIDQ3840673zbMATH OpenFDO

Authors Alessandro De Luca, Raffaella Mattone, G. Oriolo

Publication date 25 October 1998

zbMATH Keywords

Caplygin formcontrollabilityfeedback linearizationnormal formrobotic manipulatorstriangular formunderactuated system

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85)

Review text

This is a very well written paper about robotic manipulators whose configuration is controlled via forces exerted at the end-effector. A partial feedback linearization of the model is performed. Conditions under which the model assumes two special forms: the second order triangular form and the Caplygin form, are derived. Controllability of these forms is studied and sufficient conditions for STLC (small time local controllability) are provided. Control algorithms for PTP control are proposed in open loop, based on the use of cyclic control. An example of a PRP robot is exploited in a simulation study. The paper is an adaptation of a conference paper by the same authors [``Dynamic mobility of redundant robots using end-effector commands, Proc. 1996 IEEE Int. Conf. Robot. Autom. Vol. II, 1760-1767 (1996)]. Surprisingly, all the results included in this paper have appeared recently in another paper by the authors [``Steering a class of redundant mechanisms through end-effector generalized forces, IEEE Trans. Robot., Autom. 14, No. 2, 329-335 (1998)].

Recommendations

• Control of redundant robot manipulators. Theory and experiments.
• Nonlinear Control of Planar Parallel Robots with Redundant Servopneumatic Actuators
• scientific article; zbMATH DE number 1004896
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
• Path tracking by the end-effector of a redundant manipulator

Cited in

(3)

• Controllability and accessibility results for \(N\)-link horizontal planar manipulators with one unactuated joint
• Design of Feed-Forward Control for Underactuated Multibody Systems with Kinematic Redundancy
• Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators

This page was built for publication:

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3840673)