An Underactuated Manipulation Method Using a Mechanical Gravity Canceller
Yoshiki Ono, and Toshio Morita
Keio University, 3-14-1 Hiyoshi, Yokohama 223-8522, Japan
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.
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