Position Control of a Manipulator with Passive Joints Using Dynamic Coupling
Hirohiko Arai and Susumu Tachi
IEEE Transactions on Robotics and Automation, Vol.7, No.4, pp.528-534, 1991.
[Abstract]
This paper describes a method of controlling the
position of a manipulator which is composed of active and
passive joints. The active joints have actuators and
position sensors. The passive joints have holding brakes
instead of actuators. While the brakes are released, the
passive joints are indirectly controlled by the motion of
the active joints using the coupling characteristics of
manipulator dynamics. While the brakes are engaged, the
passive joints are fixed and the active joints are
controlled. The position of the manipulator is controlled
by combining these two control modes. This paper describes
the basic principle of the control method and the
conditions that ensure the controllability of the passive
joints. An algorithm for point to point control of the
manipulator is also presented. The feasibility of the
method is demonstrated by simulation experiments of a
manipulator with two degrees of freedom.