Abstract
This paper develops the method for motion planning based on dynamic property of underactuated manipulators that have one actuated joint and some underactuated joints with brakes. First, this method separates motion into conveyance and assembly. As regards assembly, path tracking control method using gravity and on-off control of brakes is suggested. Then initial orientation for assembling motion that makes the control method possible is cleared. And as regards conveyance, algorithm for on-off control of brakes to realize the initial orientation for assembling motion in consideration of interference with objects is suggested. Finally results of simulations and experiments using the method for motion planning that consists of these two motions are shown and its efficacy is clarified.
