A condition on the trajectories of planar torque-unit manipulator for controlling all state variables

Torque-unit Manipulator(TUM) is a design concept of (space) manipulator and a Multibody system with nonholonomic constraints. Each joint of TUM is free and a device which is called “torque unit” is attached on each link. The “torque unit” can be made easily of a rotary actuator and a disc. Position-...

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Autores principales:	Koji YOSHIDA, Daiki MISAKA, Tetsuya KINUGASA, Ryota HAYASHI, Koichi OSUKA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2018
Materias:	space manipulator torque-unit manipulator nonholonomic system motion trajectory planning control Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/215ff56d105148f4a8e39feab026faba
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id	oai:doaj.org-article:215ff56d105148f4a8e39feab026faba
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spelling	oai:doaj.org-article:215ff56d105148f4a8e39feab026faba2021-11-26T07:21:52ZA condition on the trajectories of planar torque-unit manipulator for controlling all state variables2187-974510.1299/mej.18-00160https://doaj.org/article/215ff56d105148f4a8e39feab026faba2018-07-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/5/4/5_18-00160/_pdf/-char/enhttps://doaj.org/toc/2187-9745Torque-unit Manipulator(TUM) is a design concept of (space) manipulator and a Multibody system with nonholonomic constraints. Each joint of TUM is free and a device which is called “torque unit” is attached on each link. The “torque unit” can be made easily of a rotary actuator and a disc. Position-controllability of the links of TUM has been shown with conventional control laws for manipulators. However a problem arises that the discs in torque units usually have residual angular velocities when the links approach desired positions. The reason of the problem is that TUM is a kind of nonholonomic system, hence the angular velocity of each disc at each time depends on the motion history of the links. Controllability of the angular velocities of the discs to desired values has been considered by planning motion trajectories of links. Then, a control scheme for the TUM from zero-velocity initial state to zero-velocity final state has been given. However the trajectories of the links were not smooth enough. Then, a condition is made clear for the trajectories of the links to satisfy for bringing the angular velocity of a disc to zero in this paper. Also trajectories of the links are planned which is smooth enough as an example of application of the condition.Koji YOSHIDADaiki MISAKATetsuya KINUGASARyota HAYASHIKoichi OSUKAThe Japan Society of Mechanical Engineersarticlespace manipulatortorque-unit manipulatornonholonomic systemmotion trajectory planningcontrolMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 5, Iss 4, Pp 18-00160-18-00160 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	space manipulator torque-unit manipulator nonholonomic system motion trajectory planning control Mechanical engineering and machinery TJ1-1570
spellingShingle	space manipulator torque-unit manipulator nonholonomic system motion trajectory planning control Mechanical engineering and machinery TJ1-1570 Koji YOSHIDA Daiki MISAKA Tetsuya KINUGASA Ryota HAYASHI Koichi OSUKA A condition on the trajectories of planar torque-unit manipulator for controlling all state variables
description	Torque-unit Manipulator(TUM) is a design concept of (space) manipulator and a Multibody system with nonholonomic constraints. Each joint of TUM is free and a device which is called “torque unit” is attached on each link. The “torque unit” can be made easily of a rotary actuator and a disc. Position-controllability of the links of TUM has been shown with conventional control laws for manipulators. However a problem arises that the discs in torque units usually have residual angular velocities when the links approach desired positions. The reason of the problem is that TUM is a kind of nonholonomic system, hence the angular velocity of each disc at each time depends on the motion history of the links. Controllability of the angular velocities of the discs to desired values has been considered by planning motion trajectories of links. Then, a control scheme for the TUM from zero-velocity initial state to zero-velocity final state has been given. However the trajectories of the links were not smooth enough. Then, a condition is made clear for the trajectories of the links to satisfy for bringing the angular velocity of a disc to zero in this paper. Also trajectories of the links are planned which is smooth enough as an example of application of the condition.
format	article
author	Koji YOSHIDA Daiki MISAKA Tetsuya KINUGASA Ryota HAYASHI Koichi OSUKA
author_facet	Koji YOSHIDA Daiki MISAKA Tetsuya KINUGASA Ryota HAYASHI Koichi OSUKA
author_sort	Koji YOSHIDA
title	A condition on the trajectories of planar torque-unit manipulator for controlling all state variables
title_short	A condition on the trajectories of planar torque-unit manipulator for controlling all state variables
title_full	A condition on the trajectories of planar torque-unit manipulator for controlling all state variables
title_fullStr	A condition on the trajectories of planar torque-unit manipulator for controlling all state variables
title_full_unstemmed	A condition on the trajectories of planar torque-unit manipulator for controlling all state variables
title_sort	condition on the trajectories of planar torque-unit manipulator for controlling all state variables
publisher	The Japan Society of Mechanical Engineers
publishDate	2018
url	https://doaj.org/article/215ff56d105148f4a8e39feab026faba
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A condition on the trajectories of planar torque-unit manipulator for controlling all state variables

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