Abstract
In this paper, we discuss the position control of a two-link arm. The first joint is a free one and the second joint is an active one. The system in this case is uncontrollable locally; thus we investigate the motion characteristics of the system globally. As a result, we find that the system can be controlled without using any additional equipment when the system has friction at the free joint. Two control algorithms using the friction torque at the free joint are presented with numerical examples. One algorithm controls the joints separately and the other controls the joints simultaneously.
| Original language | English |
|---|---|
| Pages (from-to) | 983-988 |
| Number of pages | 6 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 62 |
| Issue number | 595 |
| DOIs | |
| State | Published - 1996 |
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