Accession Number : ADA311504

Title :   Experimental Study of an Underactuated Manipulator.

Descriptive Note : Technical rept.,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Bergerman, Marcel ; Lee, Christopher ; Xu, Yangsheng

PDF Url : ADA311504

Report Date : APR 1995

Pagination or Media Count : 26

Abstract : 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 modern 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 report, we present the hardware development, dynamic parameters derivation, control software and experimental results of real-time control of U-ARM.

Descriptors :   *ROBOTICS, *MANIPULATORS, KINEMATICS, MATHEMATICAL MODELS, SOFTWARE ENGINEERING, SYSTEMS ENGINEERING, DISTRIBUTED DATA PROCESSING, COMPUTER COMMUNICATIONS, REAL TIME, ROBOTS, PASSIVE SYSTEMS, COMPUTER ARCHITECTURE, LEARNING MACHINES, INPUT OUTPUT PROCESSING, NONLINEAR SYSTEMS, OPERATING SYSTEMS(COMPUTERS), SYSTEMS ANALYSIS, CONTROL THEORY, LAGRANGIAN FUNCTIONS, OBJECT ORIENTED PROGRAMMING.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE