Motion control of nonholonomic mobile underactuated manipulator

2006 ◽  
Author(s):  
Zhijun Li ◽  
Aiguo Ming ◽  
Ning Xi ◽  
M. Shimojo
Keyword(s):  
Motion Control ◽  
Underactuated Manipulator

Motion Control of Three Link Underactuated Manipulator by Bifurcation Control

2014 ◽  
Author(s):  
Hiroshi Yabuno ◽  
Kazuya Endo
Keyword(s):  
Feedback Control ◽  
Motion Control ◽  
Multiple Scales ◽  
Equilibrium Points ◽  
Pitchfork Bifurcation ◽  
Upright Position ◽  
State Feedback Control ◽  
Vertical Excitation ◽  
Underactuated Manipulator ◽  
Pitchfork Bifurcations

Motion control of a three link underactuated manipulator, whose first joint has an actuator and a sensor and second and third joints do not have actuator or sensor, is theoretically proposed without feedback control with respect to the motion of the free links. By using high-frequency vertical excitation, so called Kapitza pendulum is stabilized at the upright position without state feedback control. The phenomenon can be regarded as a subcritical pitchfork bifurcation. On the other hand, it is known that the horizontal excitation causes supercritical pitchfork bifurcation in a pendulum. Also, the inclination of excitation from the horizontal and vertical directions produces the perturbation of the complete supercritical and subcritical pitchfork bifurcations, respectively. In this paper, we apply the method of multiple scales to obtain the averaged equations governing the motion of the free links. We perform the bifurcation analysis of the free links and clarify the equilibrium points in the free links and their stability. Then, we propose a strategy to swing up the free links and to stabilize them at the upright position by actuating the perturbation of the pitchfork bifurcations based on the change of the inclination of excitation.

Virtual Hand Representation and Motion Control for Smart Wheelchair with Touch-Based Extended Hand Projection

2019 ◽  
Vol 139 (5) ◽  
pp. 662-669
Author(s):  
Yuki Asai ◽  
Ryuichi Enomoto ◽  
Yuta Ueda ◽  
Daisuke Iwai ◽  
Kosuke Sato
Keyword(s):  
Motion Control ◽  
Virtual Hand ◽  
Smart Wheelchair

Development of Semicircular Tubular Core-less Linear Motor and Its Motion Control

2015 ◽  
Vol 135 (3) ◽  
pp. 246-257 ◽  
Author(s):  
Mototsugu Omura ◽  
Tomoyuki Shimono ◽  
Yasutaka Fujimoto
Keyword(s):  
Motion Control ◽  
Linear Motor
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