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

Shinji Hokamoto, Yoshinari Kawahara

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトルAIAA Guidance, Navigation, and Control Conference and Exhibit
出版社American Institute of Aeronautics and Astronautics Inc.
ISBN(印刷版)9781563479786, 9781624101083
DOI
出版ステータス出版済み - 2002
イベントAIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, 米国
継続期間: 8 5 20028 8 2002

出版物シリーズ

名前AIAA Guidance, Navigation, and Control Conference and Exhibit

会議

会議AIAA Guidance, Navigation, and Control Conference and Exhibit 2002
国/地域米国
CityMonterey, CA
Period8/5/028/8/02

All Science Journal Classification (ASJC) codes

  • 航空宇宙工学
  • 制御およびシステム工学
  • 電子工学および電気工学

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