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Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators

DSpace at IIT Bombay

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Title Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators
 
Creator MAHINDRAKAR, AD
BANAVAR, RN
REYHANOGLUZ, M
 
Subject mechanical systems
joint
 
Description This paper presents the controllability properties of an underactuated 3R manipulator and the application of a discontinuous point-to-point control law for a three-degree-of-freedom (DOF) PPR manipulator. In the first half we present a controllability analysis at various actuator configurations of the manipulator. A novel contribution is that we use a single coordinate system to analyse the controllability at all the three possible configurations. In the second half we present a discontinuous feedback control law for point-to-point control of a 3 DOF PPR underactuated manipulator moving in a horizontal plane. Simulation results are presented that demonstrate the effectiveness of the controller.
 
Publisher TAYLOR & FRANCIS LTD
 
Date 2011-08-30T22:23:52Z
2011-12-26T12:59:12Z
2011-12-27T05:50:12Z
2011-08-30T22:23:52Z
2011-12-26T12:59:12Z
2011-12-27T05:50:12Z
2005
 
Type Article
 
Identifier INTERNATIONAL JOURNAL OF CONTROL, 78(1), 1-13
0020-7179
http://dx.doi.org/10.1080/00207170412331317422
http://dspace.library.iitb.ac.in/xmlui/handle/10054/12484
http://hdl.handle.net/10054/12484
 
Language en