Hostname: page-component-78c5997874-m6dg7 Total loading time: 0 Render date: 2024-11-10T21:11:14.914Z Has data issue: false hasContentIssue false
  • English
  • Français

Variable structure control applied to underactuated robots

Published online by Cambridge University Press:  01 May 1997

Kangsik Lee ,
Sheri Coates  and
Victoria Coverstone-Carroll
Kangsik Lee
Affiliation:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
Sheri Coates
Affiliation:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
Victoria Coverstone-Carroll
Affiliation:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
Get access Rights & Permissions [Opens in a new window]

Abstract

Variable structure control is applied to an underactuated two andthree-link robot. Control laws are developed to invert the robot from itsstable, downward equilibrium position to an inverted position. This maneuver isaccomplished by pumping energy into the system with the variable structurecontroller. A linear balancing controller is activated once the robot nears theinverted position. Numerical simulations are presented for both the two andthree-link robot.

Keywords

Underactuated robotsVariablestructure controlRobots
Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997 , pp. 313 - 318
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)