平面三连杆欠驱动机械臂谐波函数控制方法

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2004, Vol. 25 ›› Issue (5): 520-524.

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Harmonic Function Control of Planar 3-DOF Under-actuated Manipulators

HE Guang-ping¹, LU Zhen², WANG Feng-xiang¹

1. Department of Mechanical Engineering, North China University of Technology, Beijing 100041, China;2. Department of Automation Control, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Received:2003-08-21 Revised:2003-10-31 Online:2004-10-25 Published:2004-10-25

Abstract

Abstract: The dynamic analyzing, simulating and position control of 3-DOF under-actuated manipulator under harmonic function input are investigated. Under some harmonic inputs, a kind of helical motion occurs in the passive joints and the moving speed of the helical center is decided by the frequency and amplitude of the inputs. Based on the dynamic analyzing two kinds of harmonic input control methods are suggested. The simulation results on the 3-DOF under actuated manipulator verify that the methods suggested are valid.

Key words: manipulator, under-actuated, harmonic function, dynamics, control

HE Guang-ping;LU Zhen;WANG Feng-xiang. Harmonic Function Control of Planar 3-DOF Under-actuated Manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2004, 25(5): 520-524.

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Harmonic Function Control of Planar 3-DOF Under-actuated Manipulators

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