非駆動関節を有する水平3軸マニピュレータの非ホロノミック拘束下におけるフィードバック制御

抄録

Feedback control of a manipulator with a passive joint which has neither an actuator nor a holding brake is in-vestigated. The manipulator has three axes in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. A trajectory for positioning is composed of simple transla-tional and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Simulations and experimental results show the effectiveness of the feedback control law.