| 203A5 |
|---|
| 非駆動関節を有するマニピュレータに関する研究 |
| AUTHORS |
| Takashi Matsunaga, Takeshi Nishida, Toshihiro Kobayashi (Kyushu Institute of Technology) |
| ABSTRACT |
| So far, several studies are carried out on the manipulator with passive joints called UAM(UnderActuated Manipulator).Although the controllability of some UAMs with the specific mechanism were proved. these are only for the UAMs with the mechanism which operates in a two-dimensional horizontal plane. In this research, we propose a novel UAM called ST(Snake Toy) which operates in three dimensions. and analyze its characteristic. The ST has two actuated joints and one or more passive joints, and control inputs of the ST are fewer than its degrees of freedom, i.e., the ST is a nonholonomic system. In this paper, we show the small-time locally controllability of the ST, and the existence fo continuous states feedback control law for making it stabilize asymptotically. Moreover, we propose a control law of the ST, and the effectiveness of the present method is illustrated through the simulation. |
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Annual Conference 2002