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In this research, we study on posture control of a planar one-link torque unit manipulator which has a revolute joint with viscous friction. The torque unit is an easy maintenance module that consists of a motor and a reaction wheel, and it can be set to an arbitrary position of the link as an actuator to control the angle of the rotating link with free joint. However, the system of a planar one-link torque unit manipulator has an uncontrollable mode. There arises a problem such that the angular momentum of the reaction wheel remains non-zero after controlling to a target angle of the link. Furthermore, it is essentially inevitable that the link of the manipulator goes back to the initial angle after stopping of the control. In this paper, we investigate the eigenvalues of the control system in order to understand these phenomena. Then, we consider using a reaction wheel with air resistance and show that the link of the manipulator can be controlled to an arbitrary target angle even though the system has an uncontrollable mode. We conclude that the air resistance of the reaction wheel functions as a kind of implicit control.
Research papers (other academic conferences' materials and others)
