Abstract
In this paper, we investigate dynamics of an underactuated manipulator and detect a control method of the manipulator particularly under the restriction of angular momentum conservation for the application of underactuated manipulators in space. Bringing up the control method for the free second link using high-frequency excitation of the actuated first link in a two-link underactuated manipulator as our subject, we theoretically analyze its motion in space and propose a control method by utilizing bifurcation phenomena.
