ICRA 2011 Paper Abstract


Paper WeP202.5

Zanotto, Damiano (University of Padua, Italy), Rosati, Giulio (University of Padua), Agrawal, Sunil (University of Delaware)

Modeling and Control of a 3-DOF Pendulum-Like Manipulator

Scheduled for presentation during the Regular Sessions "Kinematics of Serial and Parallel Robots" (WeP202), Wednesday, May 11, 2011, 16:25−16:40, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Motion Control of Manipulators, Tendon/Wire Mechanism, Underactuated Robots


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.



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