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He Guangping
School of Mechanical and
Electrical Engineering,
North China University of Technology,
Beijing 100041, China
Lu Zheng
School of Automation Science
and Electrical Engineering,
Beijing University of Aeronautics
and Astronautics,
Beijing 100083, China |
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SELF-RECONFIGURATION OF
UNDERACTUATED
REDUNDANT
MANIPULATORS
WITH OPTIMIZING
THE FLEXIBILITY
ELLIPSOID*
Abstract:
The multi-modes feature, the measure of the manipulating flexibility, and self-reconfiguration control method of the underactuated redundant manipulators are investigated based on the optimizing technology. The relationship between the configuration of the joint space and the manipulating flexibility of the underactuated redundant manipulator is analyzed, a new measure of manipulating flexibility ellipsoid for the underactuated redundant manipulator with passive joints in locked mode is proposed, which can be used to get the optimal configuration for the realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear control method based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulation example of a three-DOFs underactuated manipulator with one passive joint features some aspects of the investigations.
Key words:
Underactuated manipulators Self-reconfiguration Optimization
Nonlinear control
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