SELF-RECONFIGURATION OF UNDERACTUATED REDUNDANT MANIPULATORS WITH OPTIMIZING THE FLEXIBILITY ELLIPSOID  

作　　者：HeGuangping LuZhen 

机构地区：[1]SchoolofMechanicalandElectricalEngineering,NorthChinaUniversityofTechnology,Beijing100041,China [2]SchoolofAutomationScienceandElectricalEngineering,BeijingUniversityofAeronauticsandAstronautics,Beijing100083,China

出　　处：《Chinese Journal of Mechanical Engineering》2005年第1期92-97,共6页中国机械工程学报（英文版）

基　　金：This project is supported by National Natural Science Foundation of China (No.50375007,No.50475177).

摘　　要：The multi-modes feature, the measure of the manipulating flexibility, andself-reconfiguration control method of the underactuated redundant manipulators are investigatedbased on the optimizing technology. The relationship between the configuration of the joint spaceand the manipulating flexibility of the underactuated redundant manipulator is analyzed, a newmeasure of manipulating flexibility ellipsoid for the underactuated redundant manipulator withpassive joints in locked mode is proposed, which can be used to get the optimal configuration forthe realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear controlmethod based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulationexample of a three-DOFs underactuated manipulator with one passive joint features some aspects ofthe investigations.The multi-modes feature, the measure of the manipulating flexibility, andself-reconfiguration control method of the underactuated redundant manipulators are investigatedbased on the optimizing technology. The relationship between the configuration of the joint spaceand the manipulating flexibility of the underactuated redundant manipulator is analyzed, a newmeasure of manipulating flexibility ellipsoid for the underactuated redundant manipulator withpassive joints in locked mode is proposed, which can be used to get the optimal configuration forthe realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear controlmethod based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulationexample of a three-DOFs underactuated manipulator with one passive joint features some aspects ofthe investigations.

关 键 词：Underactuated manipulators SELF-RECONFIGURATION OPTIMIZATION Nonlinearcontrol 

分 类 号：O231.2[理学—运筹学与控制论]