Abstract
In this research, we consider a posture control problem of the torque unit manipulator under friction condition. The torque unit is a module which consists of an electric motor and a reaction wheel. When the first joint in the base side is free, it becomes difficult to control the planar manipulator. First of all, as an easy problem, we consider a posture control of a planar one-link torque unit manipulator which is equipped with one torque unit. We compare the stability of the planar one-link torque unit manipulator with that of a conventional planar one-link manipulator which joint is actuated. We also compare their energy comsumptions in the posture controls. Then, we consider a posture control problem of the two-link torque unit manipulator.
