Graphics enhanced version of this site

Experimental Study of an Underactuated Manipulator
M. Bergerman, C. Lee, and Y. Xu
tech. report CMU-RI-TR-95-16, Robotics Institute, Carnegie Mellon University, April, 1995.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [98 KB]
Compressed postscript (ps.gz) [64 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Sponsor: CNPq
Grant ID: F33615-93-1-1330

Associated center: VASC

Number of pages: 18

M. Bergerman, C. Lee, and Y. Xu, Experimental Study of an Underactuated Manipulator, tech. report CMU-RI-TR-95-16, Robotics Institute, Carnegie Mellon University, April, 1995.

@techreport{Bergerman_1995_375,
   author = "Marcel Bergerman and Christopher Lee and Yangsheng Xu",
   title = "Experimental Study of an Underactuated Manipulator",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "April",
   year = "1995",
   number = "CMU-RI-TR-95-16",
   address = "Pittsburgh, PA"
}