An Underactuated Manipulation Method Using a Mechanical Gravity Canceller

Yoshiki Ono; Toshio Morita

doi:10.20965/jrm.2004.p0563

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JRM Vol.16 No.6 pp. 563-569

doi: 10.20965/jrm.2004.p0563

(2004)

Paper:

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An Underactuated Manipulation Method Using a Mechanical Gravity Canceller

Yoshiki Ono, and Toshio Morita

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

Received:

September 21, 2004

Accepted:

November 9, 2004

Published:

December 20, 2004

Keywords:

underactuated manipulator, mechanical gravity canceller, flexible manipulator

Abstract

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:

Y. Ono and T. 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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References

[1] K. J. Astrom, and K. Furuta, “Swinging up a pendulum by energy control,” Automatica, Vol.36, pp. 287-295, 2000.
[2] M. Song, “The swing up control problem for the acrobot,” IEEE Control Systems Magazine, Vol.15, No.1, pp. 49-55, 1995.
[3] T. Suzuki, and Y. Nakamura, “Control of Nonholonomic Free-Joint manipulators with One Actuator,” Proc. of the 2000 IEEE/IROS, Int. Conf. on Intelligent Robots and Systems, pp. 127-132, 2000.
[4] H. Arai, “Controllability of a 3-dof manipulator with a passive joint under a nonholonomic constraint,” Proc. of the 1996 IEEE/ICRA, Int. Conf. on Robotics and Automation, pp. 3707-3713, 1996.
[5] T. Morita, F. Kuribara, Y. Shiozawa, and S. Sugano, “A Novel Mechanism Design for Gravity Compensation in Three Dimensional Space,” Proc. of the 2003 IEEE/ASME, Int. Conf. on AIM, pp. 163-168, 2003.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. J. Astrom, and K. Furuta, “Swinging up a pendulum by energy control,” Automatica, Vol.36, pp. 287-295, 2000.

[2] [2] M. Song, “The swing up control problem for the acrobot,” IEEE Control Systems Magazine, Vol.15, No.1, pp. 49-55, 1995.

[3] [3] T. Suzuki, and Y. Nakamura, “Control of Nonholonomic Free-Joint manipulators with One Actuator,” Proc. of the 2000 IEEE/IROS, Int. Conf. on Intelligent Robots and Systems, pp. 127-132, 2000.

[4] [4] H. Arai, “Controllability of a 3-dof manipulator with a passive joint under a nonholonomic constraint,” Proc. of the 1996 IEEE/ICRA, Int. Conf. on Robotics and Automation, pp. 3707-3713, 1996.

[5] [5] T. Morita, F. Kuribara, Y. Shiozawa, and S. Sugano, “A Novel Mechanism Design for Gravity Compensation in Three Dimensional Space,” Proc. of the 2003 IEEE/ASME, Int. Conf. on AIM, pp. 163-168, 2003.