학술논문
Controllability Analysis and Stable Control for Planar Non-One Passive Joint Underactuated Robot with Bi-Directional Approach
Document Type
Conference
Author
Source
2023 42nd Chinese Control Conference (CCC) Chinese Control Conference (CCC), 2023 42nd. :507-510 Jul, 2023
Subject
Language
ISSN
1934-1768
Abstract
In this paper, we consider the controllability and stability control problem for planar underactuated robots with non-one passive joints. The dynamic constraints of the robot are mainly caused by nonholonomic constraints. Firstly, we establish the dynamic model of this system and analyze its controllability. Then, based on location and number of passive joints, we divide the system into different configurations. Next, we propose a stable control method based on bi-directional approach to achieve the stable control of different systems. At last, the numerical simulation conclusion illuminate the feasibility of this method.