Control of Giant Swing Motions of a 2-DOF Link Mechanism.

摘要

This paper investigates a feedback control to follow free giant swing motions which were derived by the optimum trajectory planning method. By evaluating eigenvalues of the transitional error matrix on the Poincare plane, it was proved that free giant swing motions do not have autonomous trajectory stability. Stable giant swing motions are realized by a proposed configuration control, in which the actuated joint torque is controlled such that the measured state variables follow the reference configuration relation as a function of angular position of the passive joint. We made a gymnastic robot with no actuator at the first joint. Using the 2-dof gymnastic robot, it was shown that stable giant swing motions of type B and C can be realized by the configuration control.