Anti-gravity control of free-joint manipulators by vibrational input

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2002, Pages 1315-1320

  Suzuki, Takahiro ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Free joint manipulators; Nonholonomic systems; Pendulum; Sliding mode control; Underactuated mechanism; Vibration control

Indexed keywords

CONSTRAINT THEORY; CONTROL SYSTEM SYNTHESIS; DYNAMICS; PENDULUMS; SLIDING MODE CONTROL; SYSTEM STABILITY; VIBRATION CONTROL;

ANTI-GRAVITY CONTROL; FREE JOINT MANIPULATORS; GRAVITATIONAL EQUILIBRIUMS; NONHOLONOMIC SYSTEMS; UNDERACTUATED MECHANISM;

MANIPULATORS;

EID: 0036057723     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Free-joint manipulators: Motion control under second-order nonholonomic constraints
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3. Controllability of a 3-dof manipulator with a passive joint under a nonholonomic constraint
4. Control of underactuated mechanical systems: Application to the planar 2r robot
5. Nonholonomic control of 3 link planar manipulator with a free joint
6. The swing up control problem for the acrobot
7. Control of nonholonomic free-joint manipulators with one actuator
8. Stable average motions of mechanical systems subject to periodic forcing
9. Control of 2r underactuated manipulators with friction
10. Sliding mode control for nonlinear mechanical system
11. Impedance control of hyper-flexible manipulators under gravity
12. A method for shape control of super-flexible manipulators
13. A study of casting manipulation (swing motion control and planning of throwing motion)