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Abstract

In this paper, we consider the problem of controlling an underactuated manipulator with less actuators than passive joints. The control methodology consists of dividing the passive joints in several groups, and of controlling one group at a time via its dynamic coupling with the actuators. Among the many possible control sequences for a given robot, we choose the optimal one based on the dynamic programming method. The optimization is based on a control cost defined as the reciprocal of the coupling index, a measure of the dynamic coupling available between the active and the passive joints of the manipulator. The detailed theory, computational procedures, simulation results, and experimental results are presented.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Number of pages: 6

Text Reference

Marcel Bergerman and Yangsheng Xu, "Optimal control sequence for underactuated manipulators," Proceedings of the IEEE International Conference on Robotics and Automation, 1996, pp. 3714-3719.

BibTeX Reference

@inproceedings{Bergerman_1996_2355,
   author = "Marcel Bergerman and Yangsheng Xu",
   title = "Optimal control sequence for underactuated manipulators",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   pages = "3714-3719",
   year = "1996",
   volume = "4",
}

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