Experimental Study of an Underactuated Manipulator.

Abstract

Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U-ARM, or UnderActuated Robot Manipulator. In this report, we present the hardware development, dynamic parameters derivation, control software and experimental results of real-time control of U-ARM.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1995
Accession Number
ADA311504

Entities

People

  • Christopher T Lee
  • Marcel Bergerman
  • Yangsheng Xu

Organizations

  • Carnegie Mellon University

Tags

DTIC Thesaurus Topics

  • Control
  • Learning
  • Manipulators
  • Mental Processes

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control