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N. Scherm, Bodo Heimann

Nonlinear Discrete-Time Control of an Underactuated Manipulator

Abandoning partly the actuations of a horizontal operating manipulator will allow to save the costs and the weight of the missing drives. One obtains an underactuated manipulator. The positioning of the system represents a demanding control problem since a linearization around an equilibrium leads to a model that is not controllable. Therfore, only nonlinear control methods are applicable. This article contains a discussion on the application of nonlinear multirate path planning and digital control methods to an underactuated manipulator. Furthermore, a discretization method based on sensitivity functions is presented.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 49, 03/2001
Pages: 107

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