1P1-B08 Posture Control of A Planar Two-link Torque Unit Manipulator under Friction Condition : Influence of The First Link's Oscillation on The Posture Control in Unloading of Reaction Wheels

Abstract

In this research, we consider a posture control problem of a planer two-link torque unit manipulator under viscous friction condition. The torque unit is a module which consists of an electric motor and a reaction wheel. The friction arising from the presence of a viscous environment cannot he ignored in the real system. In this report, first, we clarify the relation between the angle of links and the angular momentum of reaction wheels under the viscous friction condition. Next, we propose the method to control the rotation angle of the second link to the reference position. When a residual angular momentum in reaction wheels is unloaded by using this proposed method, there arises a problem such that the first link has an oscillation. Then, we consider the influence of the first link's oscillation on the posture control of the second link.