Dynamic Control of a Manipulator with Passive Joints in Operational Space

  • Tachi S
  • Tanie K
  • 35

    Readers

    Mendeley users who have this article in their library.
  • 53

    Citations

    Citations of this article.

Abstract

A method for controlling the tip position of a manipulator with passive joints, which have no actuators, in an operational coordinate space is presented. The equations of motion are described in terms of operational coordinates. The coordinates are separated into controlled coordinates and compensating coordinates. The accelerations of the controlled coordinates can be arbitrarily adjusted by using dynamic coupling of the manipulator. The effectiveness of the method is verified by experiments using a two-degree-of-freedom manipulator with a passive joint. The experiments show that the controlled coordinates of the position of the manipulator can be controlled precisely by means of the proposed method

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Get full text

Authors

  • Susumu Tachi

  • Kazuo Tanie

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free