SWING-UP AND STABILIZATION OF FLEXIBLE UNDERACTUATED MANIPULATOR WITHOUT FEEDBACK

摘要

A control method without state feedback of the free link is proposed for swing-up and stabilization at the upright position of a ?exible free link in a twolink underactuated ?exible manipulator (the active ?rst and free second links are rigid and ?exible, respectively). The proposed method is based on the actuation of bifurcations produced in the second link under high-frequency excitation of the ?rst link. Experimental results show the validity of the proposed method of control for the ?exible underactuated manipulator.