Premium
Modelling and Mechanical Design of Underactuated Robot Manipulators with Impact and Friction
Author(s) -
WelgeLuessen Tobias
Publication year - 2004
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200410069
Subject(s) - underactuation , robot , control theory (sociology) , computer science , complementarity (molecular biology) , control engineering , manipulator (device) , robot manipulator , engineering , control (management) , artificial intelligence , biology , genetics
This paper provides a theoretical approach for describing underactuated mechanical systems and conceptual ideas for the design of an underactuated robot manipulator. The mathematical description uses the Linear Complementarity Problem (LCP) formulation in order to handle the equations of motion with inequality constraints. The robot manipulator serves later on as an experimental platform for the verification of control strategies of underactuated systems and the exploration of underactuated walking patterns. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)