In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators; free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space; legged robots with passive joints; hyper-redundant (snake- like) robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base (satellite) can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Dynamic Coupling of Underactuated Manipulators


    Contributors:
    M. Bergerman (author) / C. Lee (author) / Y. Xu (author)

    Publication date :

    1994


    Size :

    36 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Nonlinear Dynamic Analysis of Planar Flexible Underactuated Manipulators

    HE, Guang-ping / LU, Zhen | Elsevier | 2005

    Free access

    Nonlinear Dynamic Analysis of Planar Flexible Underactuated Manipulators

    He, G.-p. / Lu, Z. | British Library Online Contents | 2005


    Algorithm For Control Of Underactuated Manipulators

    Jain, Abhinandan / Rodriguez, Guillermo | NTRS | 1994


    Concurrent Rendezvous Control of Underactuated Space Manipulators

    Zong, Lijun / Reza Emami, M. / Muralidharan, Vijay | AIAA | 2019