Control methods of hyper-flexible manipulators using their dynamical features. Suzuki, T.; Shintani, K.; and Mochiyama, H. In Proceedings of the 41st SICE Annual Conference. SICE 2002., volume 3, pages 1511–1516 vol.3, August, 2002.
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While conventional flexible systems were based on the assumption with elasticity at links and/or joints, much more flexible structures without elasticity such as strings, wires, ropes and tethers are considered - called "hyper-flexible" systems. One of their discrete dynamic models can be represented by underactuated manipulator with serial rigid links connected by free joints. However, even its controllability is difficult to be shown, possible control goals are considered for this system, for instance, dynamic stabilization and impedance control. These control methods are developed through the analysis of dynamic behaviors of a free-joint manipulator model using the averaging method. For the system under gravity, inclined configuration other than gravitational vertical ones is shown to be dynamically stabilizable by vibratory input. The sliding mode control is applied to achieve a faster approach to the destination. The dynamic stabilization also has impedance property and the impedance can be designed by the modulation of parameters of vibratory input.
@inproceedings{suzuki_control_2002,
	title = {Control methods of hyper-flexible manipulators using their dynamical features},
	volume = {3},
	doi = {10.1109/SICE.2002.1196531},
	abstract = {While conventional flexible systems were based on the assumption with elasticity at links and/or joints, much more flexible structures without elasticity such as strings, wires, ropes and tethers are considered - called "hyper-flexible" systems. One of their discrete dynamic models can be represented by underactuated manipulator with serial rigid links connected by free joints. However, even its controllability is difficult to be shown, possible control goals are considered for this system, for instance, dynamic stabilization and impedance control. These control methods are developed through the analysis of dynamic behaviors of a free-joint manipulator model using the averaging method. For the system under gravity, inclined configuration other than gravitational vertical ones is shown to be dynamically stabilizable by vibratory input. The sliding mode control is applied to achieve a faster approach to the destination. The dynamic stabilization also has impedance property and the impedance can be designed by the modulation of parameters of vibratory input.},
	booktitle = {Proceedings of the 41st {SICE} {Annual} {Conference}. {SICE} 2002.},
	author = {Suzuki, T. and Shintani, K. and Mochiyama, H.},
	month = aug,
	year = {2002},
	keywords = {Actuators, Control systems, Controllability, Elasticity, Impedance, Kinematics, Manipulator dynamics, Nonlinear dynamical systems, Sliding mode control, Wire, averaging method, controllability, elasticity, flexible manipulators, free-joint manipulators, hyper-flexible manipulators, impedance control, manipulator dynamics, mechanical variables control, nonholonomic system, nonlinear dynamics, sliding mode control, stability, stabilization, variable structure systems},
	pages = {1511--1516 vol.3}
}
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