自由関節を含む3自由度マニピュレータの非ホロノミック制御 Nonholonomic Control of 3-D. O. F. Manipulator with a Free Joint
This paper is concerned with point to point control of a 3 link planar manipulator where the first two joints are actuated and the third revoluted joint is unactuated. This system is a special case of under-actuated manipulators that have acceleration nonholonomic constraints. First, we show that this system is converted to seconed order chained form by coordinates and feedback transformation. Next we propose a control law that stabilizes this chained system with exponential convergence from any initial point to any desired point.
計測自動制御学会論文集 33(8), 799-804, 1997-08-31
The Society of Instrument and Control Engineers