TY - GEN
T1 - Modeling and control of a 3-DOF pendulum-like manipulator
AU - Zanotto, Damiano
AU - Rosati, Giulio
AU - Agrawal, Sunil K.
PY - 2011
Y1 - 2011
N2 - This work deals with the kinematic and dynamic modeling of a 3-DOF, under-actuated, pendulum-like manipulator and its control system. The cable-based device is capable of completing point-to-point planar motions, driving the end-effector from a starting pose to a goal pose, by means of two actuators only. The device relies on parametric excitation to control the oscillations of the variable-length pendulum. Unlike a previous work [1], the dynamic model introduced here is consistent with the assumption of cable-based device. Several control strategies are compared through numerical simulations.
AB - This work deals with the kinematic and dynamic modeling of a 3-DOF, under-actuated, pendulum-like manipulator and its control system. The cable-based device is capable of completing point-to-point planar motions, driving the end-effector from a starting pose to a goal pose, by means of two actuators only. The device relies on parametric excitation to control the oscillations of the variable-length pendulum. Unlike a previous work [1], the dynamic model introduced here is consistent with the assumption of cable-based device. Several control strategies are compared through numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=84864455796&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2011.5980198
DO - 10.1109/ICRA.2011.5980198
M3 - Conference contribution
AN - SCOPUS:84864455796
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3964
EP - 3969
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -