Control of a Three-joint Underactuated Manipulator by IDA-PBC Method

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  • ITO Masahide
    Faculty of Science and Technology, Seikei University
  • TODA Naohiro
    Faculty of Information Science and Technology, Aichi Prefectural University

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  • IDA-PBC法による3関節劣駆動マニピュレータの制御
  • IDA PBCホウ ニ ヨル 3 カンセツ レツ クドウ マニピュレータ ノ セイギョ

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Abstract

We present an application of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method to an underactuated manipulator with the third joint unactuated which is subject to second-order nonholonomic constraints. We give a port-Hamiltonian representation of the manipulator system by selecting an appropriate set of generalized coordinates and applying a global input transformation. And we clarify the applicable conditions and design an inertia matrix and a potential energy function of the closed Hamiltonian system. Numerical experiments are given to show the validity of the derived controller.

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