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Abstract: The drifting phenomenon of underactuated manipulator is
exposed under harmonic input of actuated joints based on the nonlinear
dynamic analysis of the systems. On the other word, when the actuated
joints are droved by small oscillation, the passive joints of the
underactuated manipulators will drift from its equilibration position.
Based on this phenomenon, a close-loop control method with small
amplitude oscillation is proposed. Furthermore, the artificial potential
field technology was introduced to planning the motion of the redundant
manipulators, and an integrated motion-planning algorithm considering
obstacle avoidance for the underactuated redundant manipulator is
suggested. Some simulations of planar 3-DOF manipulator with last one
passive joint are shown some aspects of the research.
Key words: Underactuated Manipulators Motion planning Nonlinear
dynamic Artificial potential fields
CLC No: TP242
国家自然科学基金资助项目(50375007，50475177).
Received 20040429, received in revised form 20041220
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