DYNAMICSANDCONTROLOFUNDERACTUATEDMANIPULATORS最新完整版本.pdfVIP

CARNEGIEMELLONUNIVERSITY

DYNAMICSANDCONTROLOF’

UNDERACTUATEDMANIPULATORS

ADISSERTATION

SUBMITTEDTOTHEGRADUATESCHOOL

INPARTIALFULFILLMENTOFTHEREQUIREMENTS

forthedegreeof

DOCTOROFPHILOSOPHY

in

ELECTRICALANDCOMPUTERENGINEERING

by

MARCELBERGERMAN

Pittsburgh,Pennsy1vania

December,1996

ToClaraandRafael,forallthelove.

Tomyparents,formyeducation.

ToYangshengXu,fortheguidanceandfriendship.

Acknowledgments

IwishtoexpressmysinceregratitudetoYangshengXu,forhistechnicalaswellas

personalsupport;heistomearolemodel,bothasaresearcherandasahumanbeing.

Iwishtothankalsothemembersofmycommittee:YasuyoshiYokokohji,forbringingnew

ideasintothisproject;TakeoKanade,forhissupportandconstructiveinput;andBruce

KroghandHowieChoset,fortheirsupportandpositivefeedback.

IwishtothankChristopherLeeforthebrainstormingsessionsweheldtogether.ChrisLee

alsowrotemostofthecontrolsoftwareforthiswork,andservedasmyprogramming

consultantwheneverIranintocompilationproblems;andH.BenBrown,fordesigningand

buildingtheunderactuatedmanipulatorwithwhichIvalidatedthetheorydevelopedinthis

dissertation.

IfurtherwishtothankPauloSergioPereiradaSil\’aandChrisParedis,fortheir

contributionstothisdissertationintheformofcommentsandfeedback;ElaineLnn.rence

andLynnPhilibin,fortheirhelpindealingwithallthecoursepaperwork,andfortheir

friendship,inparticular,theiractingasmysubstitutemoms;KateFissell,JamesMoody,

and