Abstract
This paper propose a method, to stabilize the arbitrary posture of a distal link by generating and erasing equilibrium points in passive joints of a vertical planar underactuated manipulator with an active joint in the base. A vertical planar three-DOF manipulator combining a passive two-DOF mechanical gravity canceller and an active base joint was developed. Experimental results demonstrate the effectiveness of this method.
| Original language | English |
|---|---|
| Pages (from-to) | 563-569 |
| Number of pages | 7 |
| Journal | Journal of Robotics and Mechatronics |
| Volume | 16 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2004 Dec |
Keywords
- flexible manipulator
- mechanical gravity canceller
- underactuated manipulator
ASJC Scopus subject areas
- General Computer Science
- Electrical and Electronic Engineering
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