A consideration on dynamic constraint of planar manipulators with free-joints

Shinji Hokamoto, Yoshinari Kawahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

It is known that the manipulators with free-joints are typical mechanical systems dominated by second-order nonholonomic constraints. This paper points out that only the second-order nonholonomic constraint at the first free-joint of the manipulator is integrable to first-order constraint, and that the integrated constraint has linear form of generalized velocities. This constraint implies that a planar manipulator whose first joint is replaced to a free-joint driven by a reaction wheel can be controlled using the same control strategy as that used for the original manipulator. Integrability of the resulting first-order constraint is also discussed for different planar manipulators with free-joints, and the usefulness of the first-order nonholo-nomic constraint is demonstrated numerically in a path-planning problem for a manipulator with two free-joints.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781624101083
Publication statusPublished - Jan 1 2002
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States
Duration: Aug 5 2002Aug 8 2002

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2002
CountryUnited States
CityMonterey, CA
Period8/5/028/8/02

Fingerprint

Manipulators
Motion planning
Wheels

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Hokamoto, S., & Kawahara, Y. (2002). A consideration on dynamic constraint of planar manipulators with free-joints. In AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA Guidance, Navigation, and Control Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc..

A consideration on dynamic constraint of planar manipulators with free-joints. / Hokamoto, Shinji; Kawahara, Yoshinari.

AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hokamoto, S & Kawahara, Y 2002, A consideration on dynamic constraint of planar manipulators with free-joints. in AIAA Guidance, Navigation, and Control Conference and Exhibit. AIAA Guidance, Navigation, and Control Conference and Exhibit, American Institute of Aeronautics and Astronautics Inc., AIAA Guidance, Navigation, and Control Conference and Exhibit 2002, Monterey, CA, United States, 8/5/02.
Hokamoto S, Kawahara Y. A consideration on dynamic constraint of planar manipulators with free-joints. In AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc. 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).
Hokamoto, Shinji ; Kawahara, Yoshinari. / A consideration on dynamic constraint of planar manipulators with free-joints. AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).
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