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1 Systems Science

1 1998

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Singularity-free cartesian path planning and adaptive robust control of a robot manipulator with free-swinging passive joints.

Shin J.-H., Lee J.-J.

Systems Science

1998

Vol. 24, nr 1

73-93

This paper presents the path planning of a robot manipulator with free-swinging passive joints overcoming actuator failures uncertainties. In the case that both actuators and brakes of passive joints may fail, or passive joints may have neither actuators nor brakes originally in the robot design, an adaptive robust control scheme overcoming the parametric uncertainty and external disturbances is proposed in Cartesian space for a nonholonomic underactuated manipulator. The proposed control scheme does not need a priori knowledge of the accurate dynamic parameters and the exact uncertainty bounds. The availability of the proposed control scheme is guaranteed by the assumption that the joint configurations remain within the nonsingular regions during the total control process. To overcome this dynamic singularity problem for a nominal decoupling matrix in the controller, a singularity-free Cartesian path planning in the inside of the nonsingular regions is achieved via a computer simulation. To illustrate the feasibility and validity of the proposed control scheme, simulation results are presented for a three-link planar robot manipulator with one passive joint.