Experimental study of an underactuated manipulator

Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modem learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U-ARM, or underactuated robot manipulator. In this paper we present the hardware development, dynamic parameters, control software and experimental results of real-time control of the U-ARM.

Authors

• Marcel Bergerman
• Christopher Lee 0001
• Yangsheng Xu

Keywords

• Robots
• Motion control
• Control systems
• Manipulator dynamics
• Modems
• Hardware
• Nonlinear dynamical systems
• Underactuated Manipulator
• Operating System
• Joint Space
• End Of The Paper
• Active Joint
• Passive Joint
• Control Strategy
• State Space
• Control Mode
• End Of Cycle
• Robust Control
• Control Software
• Control Objective
• Submatrix
• Joint Position
• Dynamic Coupling
• Joint Torque
• Active Ones
• Separate Thread