Characteristics analysis and stabilization of a planar 2R underactuated   manipulator

doi:10.1017/S0263574714001714

CORC > 北京大学 > 工学院

	Characteristics analysis and stabilization of a planar 2R underactuated manipulator
	He, Guang-Ping ; Wang, Zhi-Lue ; Zhang, Jie ; Geng, Zhi-Yong
刊名	ROBOTICA
	2016
关键词	Underactuation Manipulators Nilpotent approximation Iterative steering Control NONHOLONOMIC SYSTEMS NILPOTENT APPROXIMATIONS RIGID BODIES MOTION DISTRIBUTIONS ROBOT FLATNESS ACROBOT BASES
DOI	10.1017/S0263574714001714
英文摘要	The weightless planar 2R underactuated manipulators with passive last joint are considered in this paper for investigating a feasible method to stabilize the system, which is a second-order nonholonomic-constraint mechanical system with drifts. The characteristics including the controllability of the linear approximation model, the minimum phase property, the Small Time Local Controllability (STLC), the differential flatness, and the exactly nilpotentizable properties, are analyzed. Unfortunately, these negative characteristics indicate that the simplest underactuated mechanical system is difficult to design a stable closed-loop control system. In this paper, nilpotent approximation and iterative steering methods are utilized to solve the problem. A globally effective nilpotent approximation model is developed and the parameterized polynomial input is adopted to stabilize the system to its non-singularity equilibrium configuration. In accordance with this scheme, it is shown that designing a stable closed-loop control system for the underactuated mechanical system can be ascribed to solving a set of nonlinear algebraic equations. If the nonlinear algebraic equations are solvable, then the controller is asymptotically stable. Some numerical simulations demonstrate the effectiveness of the presented approach.; Nature Science Foundation of China [50975004, 51375016]; Beijing Nature Science Foundation [3062009]; SCI(E); EI; ARTICLE; hegp55@126.com; 3; 584-600; 34
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/416278]
专题	工学院
推荐引用方式 GB/T 7714	He, Guang-Ping,Wang, Zhi-Lue,Zhang, Jie,et al. Characteristics analysis and stabilization of a planar 2R underactuated manipulator[J]. ROBOTICA,2016.
APA	He, Guang-Ping,Wang, Zhi-Lue,Zhang, Jie,&Geng, Zhi-Yong.(2016).Characteristics analysis and stabilization of a planar 2R underactuated manipulator.ROBOTICA.
MLA	He, Guang-Ping,et al."Characteristics analysis and stabilization of a planar 2R underactuated manipulator".ROBOTICA (2016).