Experimental Study of an Underactuated Manipulator

Marcel Bergerman, Christopher Lee, and Yangsheng Xu
tech. report CMU-RI-TR-95-16, Robotics Institute, Carnegie Mellon University, April, 1995


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Abstract
Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U-ARM, or UnderActuated Robot Manipulator. In this report, we present the hardware development, dynamic parameters derivation, control software and experimental results of real-time control of U-ARM.

Notes
Sponsor: CNPq
Grant ID: F33615-93-1-1330
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Number of pages: 18

Text Reference
Marcel Bergerman, Christopher Lee, and Yangsheng Xu, "Experimental Study of an Underactuated Manipulator," tech. report CMU-RI-TR-95-16, Robotics Institute, Carnegie Mellon University, April, 1995

BibTeX Reference
@techreport{Lee_1995_375,
   author = "Marcel Bergerman and Christopher Lee and Yangsheng Xu",
   title = "Experimental Study of an Underactuated Manipulator",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "1995",
   number= "CMU-RI-TR-95-16",
   address= "Pittsburgh, PA",
}