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Point-to-point control of a 2R planar horizontal underactuated manipulator

DSpace at IIT Bombay

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Title Point-to-point control of a 2R planar horizontal underactuated manipulator
 
Creator MAHINDRAKAR, AD
RAO, SHODHAN
BANAVAR, RN
 
Subject universal joints
mathematical models
controllability
friction
 
Description This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move the end-effector from a given position to a target point. The methodology involves two stages. In the first stage a finite-time controller is used to move the passive link to its desired position. In the second stage, the first link is moved to its desired position keeping the second link at rest, using friction as a “brake” and subject to the constraint that the cross-coupling torque acting on the second joint does not exceed the static friction.
 
Publisher Elsevier
 
Date 2009-04-21T14:11:34Z
2011-11-25T21:11:37Z
2011-12-26T13:08:48Z
2011-12-27T05:34:09Z
2009-04-21T14:11:34Z
2011-11-25T21:11:37Z
2011-12-26T13:08:48Z
2011-12-27T05:34:09Z
2006
 
Type Article
 
Identifier Mechanism and Machine Theory 41(7), 838-844
0094-114X
http://dx.doi.org/10.1016/j.mechmachtheory.2005.10.013
http://hdl.handle.net/10054/1197
http://dspace.library.iitb.ac.in/xmlui/handle/10054/1197
 
Language en