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Abstract: The kinematics and dynamics of the underactuated redundant
manipulator are analyzed, and a dynamic manipulability measure is
proposed for the underactuated manipulator when it is working in the
full-actuated mode. Furthermore, a nonlinear control method is suggested
for controlling the motion of the manipulator that is working in
underactuated mode. This algorithm can control the motion in the
configuration space that has higher dimensions than that of the input
space, so the “self-motion” that is an intrinsic characteristic of the
underactuated redundant manipulator can be exhibited definitely in
dynamics level. Based on the fact of this, an optimizing algorithm for
improving the dynamic manipulability of the underactuated manipulator is
proposed. The simulation results on a planar four joints manipulator
that has two passive joints had shown some aspects of the
investigations.
Key words: Underactuated Manipulators Selfreconfiguration Nonlinear
control Dynamic manipulability
CLC No: TP242
国家自然科学基金资助项目(50375007、50475177).
Received 20040615, received in revised form 20041115
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