シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2017/12
形態種別	国際会議論文
査読	査読あり
標題	Motion trajectory design for underactuated three-link gymnast robot
執筆形態	共著
掲載誌名	The 11th Asian Control Conference (ASCC 2017)
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	pp.1258-1263
担当範囲	All
著者・共著者	Ancai Zhang, Jinhua She, Jianlong Qiu, Chengdong Yang, and Lan Zhou
概要	This paper concerns the motion trajectory design for an underactuated three-link robot (UTGR). First, we design a controller for the UTGR system based on the system's dynamic structure characteristics. And then, the properties of closed-loop system are analyzed. After that, a motion trajectory of the UTGR is designed based on the analyzed properties and an inverted trajectory idea. The designed trajectory starts from the downward position and ends at the upward position. Tracking of this trajectory can enable the stabilization control objective of UTGR from the downward position to the upward position to be achieved. A numerical example demonstrates the effectiveness of our proposed theoretical results.