Dynamic Coupling of Underactuated Manipulators
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space legged robots with passive joints hyper-redundant snake- like robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base satellite can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.
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