Trajectory tracking control of “Discretely Actuated Robotic Manipulator (D-ARM)”

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  • 離散値駆動型マニピュレータ“D-ARM”の軌道追従制御

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<p>This paper proposes two trajectory tracking methods for “Discretely Actuated Robotic Manipulators (D-ARMs).” A D-ARM is any member of a class of robotic manipulators powered by actuators that have only discrete positional stable states such as solenoids. One of the most significant kinematic phenomena of D-ARMs is the discreteness of both input range and end-effector frames. The proposing control methods are for two-dimensional (2D) D-ARM with desired end-effector trajectory denoted with the B´ezier curves. A k-means based clustering technique is applied to narrow the range of solution search. A series of simulation results demonstrates the advantages of each control method.</p>

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