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Throwing Motion Control of the Pendubot via Unstable Zero Dynamics
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- Shoji Takuya
- Tokyo Institute of Technology
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- Nakaura Shigeki
- Sasebo National College of Technology
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- Sampei Mitsuji
- Tokyo Institute of Technology
Bibliographic Information
- Other Title
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- 不安定なゼロダイナミクスを利用したPendubotの投球運動制御
Description
This paper describes a control strategy for throwing motion of the Pendubot based on the concept of unstable zero dynamics. An underactuated two-link planar robot called the Pendubot is investigated to realize dexterous actions of the superior limb in human throwing motion. In the proposed control strategy, the zero dynamics is intentionally unstabilized when the end-effector of the Pendubot is constrained on a geometric path via output zeroing control. Numerical simulations and experimental results confirm the effectiveness of the proposed control strategy.
Journal
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- Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
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Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers SCI10 (0), 29-29, 2010
The Institute of Systems, Control and Information Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282680601607168
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- NII Article ID
- 130006985110
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- Text Lang
- ja
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- Data Source
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- JaLC
- CiNii Articles
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- Abstract License Flag
- Disallowed
