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Abstract: The second order nonholonomic constraint underacuated robot dynamic modeling and control are investigated by applying configuration manifold minimum embedding model. So the dynamic equation is reduced and the basis for further study on underactuated robot’s dynamic modeling and control is found. The existence of passive joints is expressed by one homogeneous linear equation. And solution structure for dynamic equation based on minimum embedding model is posed. Another homogeneous linear equation associated with actuated joints and control inputs is presented by introducing computed torque. And one underdetermined linear equation set related with control inputs and theirs solutions is formulated by analyzing the relationship between control inputs and solutions of the two equations. Improved dynamic equation of underactuated robot is developed by solving the equations. The minimum embedding model control is performed by full actuated robot control law. And the underactuated robot joint space control is realized. Finally, the above principle feasibility and effectiveness are illustrated with a planar two bar underactuated robot.
Key words: Configuration manifold
Minimum embedding model Underactuated robot Dynamic equation
CLC No:
TP242
国家自然科学基金资助项目(50375007). Received 20061104, received in revised form 20070702
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