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)9781563479786, 9781624101083
DOIs
Publication statusPublished - 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

Conference

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

All Science Journal Classification (ASJC) codes

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

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