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JRM Vol.17 No.5 pp. 553-559
doi: 10.20965/jrm.2005.p0553
(2005)

Paper:

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Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism

Yoshiki Ono*, and Toshio Morita**

*Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan

**Dept. of Mechanical Engineering, Keio University

Received:
May 10, 2005
Accepted:
July 22, 2005
Published:
October 20, 2005
Creative Commons License
Keywords:
underactuated manipulator, mechanical gravity canceller, flexible manipulator, gravity compensation mechanism
Abstract
We propose generating and erasing equilibrium points for passive joints, together with an underactuated manipulator having both vertical and horizontal planar type. This manipulator implements three degrees of freedom (DOF) by combining a passive two-DOF mechanical gravity canceller and an active base joint. Equilibrium points are erased and adjusted by angular variation of the base joint so equilibrium points are erased when gravity torque is zero. If gravity torque is not zero, equilibrium points depend on angular variation of the base joint. Experimental results show position control of the distal link through the mechanical gravity canceller is effective for underactuated manipulation.
Cite this article as:
Y. Ono and T. Morita, “Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism,” J. Robot. Mechatron., Vol.17 No.5, pp. 553-559, 2005.
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