Abstract
A robot manipulator with passive joints brings fabrication of light weight manipulator and can make fault-tolerant control for some actuator failure. A motion control of a two-link robot manipulator actuated only at the second joint is presented in this paper. The first integral of the system is derived and the motion is described as a variation of the integral constant. Also the dynamics in forced motion and free motion are analyzed based on the first integral approach proposed in this paper. An effective motion control algorithm is established using the dynamic characteristics positively. Finally a simple numerical example is given.
| Original language | English |
|---|---|
| Pages | 311-316 |
| Number of pages | 6 |
| State | Published - 1995 |
| Event | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA Duration: 1995.08.5 → 1995.08.9 |
Conference
| Conference | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
|---|---|
| City | Pittsburgh, PA, USA |
| Period | 95.08.5 → 95.08.9 |
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