Volume 24 Issue 2
Mar.  2002
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LUAN Nan, MING Ai-guo, ZHAO Xi-fang, CHEN Jian-ping. LEARNING CONTROL FOR ROBOT WITH UNACTUATED JOINTS[J]. ROBOT, 2002, 24(2): 144-149,170.
Citation: LUAN Nan, MING Ai-guo, ZHAO Xi-fang, CHEN Jian-ping. LEARNING CONTROL FOR ROBOT WITH UNACTUATED JOINTS[J]. ROBOT, 2002, 24(2): 144-149,170.
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LEARNING CONTROL FOR ROBOT WITH UNACTUATED JOINTS

  • 1.

    Research Institute of Robotics, Shanghai Jiaotong University, 200030

  • 2.

    University of Electron Communication, Japan

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  • Received Date: March 27, 2001
  • Published Date: March 14, 2002
    Graphical Abstract
    • Abstract
  • The control of a robot with unactuated joints is much more difficult than a conventional robot. Because the unactuated joints can't be controlled directly, it is an incomplete controllable system. Usual smooth feedback control is not usable for such system. A method of learning control is proposed in this paper, that is dynamics feedforward control by learning. In this way, we can control an under actuated robot with high precision. The effectiveness of the method has been confirmed by experiment with an under-actuated robot. Method, implementation and experimental results of the control method are described in this paper.
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    • References (5)
  • [1]
    A Ming and M. Kajitani:Human dynamic skill in high speed actions and its realization by robot. Journal of Robotics and Mechatronics, 2000,12(3):318-324.
    [2]
    A Ming and M. Kajitani:Development of a golf swing robot to simulate human skill. Journal of Robotics and Mechatronics, 2000,12(3):325-332.
    [3]
    G Oriolo and Y. Nakamura:Control of mechanical systems with second-order nonholonomic constraints:underactuated manipulators. Proceedings of the 30th IEEE Conference on Decision and Control, Brighton, UK, 1991,3:2398-2403.
    [4]
    R W Brockett:Asymptotic stability and feedback stability. Differential Geometric Control Theory, Birkhauser, Boston, 1983. 181-208.
    [5]
    金贞玉, 大潼诚, 明爱国,木尾谷诚:ゴルフスイングロボットに关する研究 -小型モデル机の试作と基础实验-, 日本机械学会ロボティクス*メカトロニクス讲演会'97讲演论文集, 1997:381-382
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