JRM Vol.16 No.6 pp. 563-569
doi: 10.20965/jrm.2004.p0563


An Underactuated Manipulation Method Using a Mechanical Gravity Canceller

Yoshiki Ono, and Toshio Morita

Keio University, 3-14-1 Hiyoshi, Yokohama 223-8522, Japan

September 21, 2004
November 9, 2004
December 20, 2004
underactuated manipulator, mechanical gravity canceller, flexible manipulator

This paper propose a method, to stabilize the arbitrary posture of a distal link by generating and erasing equilibrium points in passive joints of a vertical planar underactuated manipulator with an active joint in the base. A vertical planar three-DOF manipulator combining a passive two-DOF mechanical gravity canceller and an active base joint was developed. Experimental results demonstrate the effectiveness of this method.

Cite this article as:
Yoshiki Ono and Toshio Morita, “An Underactuated Manipulation Method Using a Mechanical Gravity Canceller,” J. Robot. Mechatron., Vol.16, No.6, pp. 563-569, 2004.
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Last updated on Mar. 05, 2021