language: en

DYNAMIC COUPLING OF UNDERACTUATED MANIPULATORS

Marcel Bergerman Christopher Lee Yangsheng Xu
The Robotics Institute Carnegie Mellon University
Pittsburgh PA 15213
-mbergerm|chrislee|xu+-@cs.cmu.edu

[Proceedings of the 4th IEEE Conference on Control Applications, Albany, USA, Sep. 1995, pp. 500-505.]

Abstract In recent years, researchers have been dedicated to the study of underactuated manipulators which have more joints than control actuators. In previous works, assumptions were made as to the existence of enough dynamic coupling between the active and the passive joints of the manipulator for it to be possible to control the position of the passive joints via the dynamic coupling. In this work, the authors aim to develop an index to measure the dynamic coupling, so as to address when control of the underactuated system is possible, and how the motion and robot configuration can be designed. We discuss extensively the nature of the dynamic coupling and of the proposed coupling index, and their applications in the analysis and design of underactuated systems, and in control and planning of robot motion configuration.

1 Introduction